MEng project, University of Cincinnati 2018

Summary

This repository contains the whole project "The Application of STRIPS Planning Using PDDL to a CRUMB Project Robot", being used for Master of Engineering capstone in AS4SR lab at University of Cincinnati.

Recommended OS/Programs

The software was developed and tested in:

• Ubuntu 16.04 LTS
• ROS Kinetic
• Gazebo 7.12

Installation

To install the current version of this repository to your machine, cd into your catkin workspace source directory and clone the repository:

CRUMB Gazebo model:

git clone https://github.com/CRUMBproject/ROS.git

git clone https://github.com/vanadiumlabs/arbotix_ros.git

Some issues might happen while installing CRUMB Gazebo model and could be solved here: https://github.com/ermekaitygulov/gym-crumb

PDDL code:

git clone https://github.com/sharon50270/meng_crumb_proj.git

Run the PDDL in Python Planner in Gazebo

Launch the Gazebo file under meng_crumb_project package first

First scenario:

roslaunch meng_crumb_project crumb.launch

Second and third scenario:

roslaunch meng_crumb_project crumb_1.launch

Rosrun file to generate the planner

cd script

First scenario:

rosrun meng_crumb_project turtlebot_wp_1.py

Second scenario:

rosrun meng_crumb_project turtlebot_wp_2.py

Third scenario:

rosrun meng_crumb_project turtlebot_wp_3.py

Publish messages to different topic names to have the CRUMB to perform desired motions

First scenario:

rosrun meng_crumb_project action_publisher_1.py

Second and third scenario:

rosrun meng_crumb_project action_publisher_2&3.py

Hardware setup

roslaunch turtlebot_bringup minimal.lauch

http://learn.turtlebot.com/2015/02/01/9/

Setup up Arbotix on WidowX arm - https://github.com/RobotnikAutomation/widowx_arm

To make sure your account has permissions to access to /dev/ttyUSB0

sudo chmod a+rw /dev/ttyUSB0