Action Planner

asked 2018-01-25 09:35:18 -0500

Cerin gravatar image

Is there an action planning framework in ROS that supports large scale general action planning?

I'm trying to flesh out some simple action sequences for a small robot using actionlib and its SimpleActionServer and client, but I'm finding it's anything but simple or usable. Even for trivial actions, they require a complex server/client architecture along with large scripts that essentially are just glorified service calls. Even worse, the "action" message is requires doesn't let you chain actions together. It specifies a goal and results, but these aren't structured in a way that a STRIPS or PDDL planner could use to form more sophisticated plans, and there's nothing in the docs to suggest this was even a goal of actionlib.

Some of the motion-specific planners seem more geared for this, but they're almost exclusive for moving arms, and aren't general purpose planners.

edit retag flag offensive close merge delete



and there's nothing in the docs to suggest this was even a goal of actionlib

exactly. So it seems like a strange thing to 'attack' actionlib on those aspects, as it was never designed for what you're trying to do.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:35:12 -0500 )edit

Can you update your question with what you've found yourself? Just to avoid people suggesting things you already considered.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:37:49 -0500 )edit

A quick google returns many results: downward, ROSPlan, task_compiler, etc.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:38:18 -0500 )edit