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Robot Plan Runner

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This repo requires cppzmq which can be installed by running

cd robot-plan-runner
sudo ./scripts/install_cppzmq.sh

This repo uses the CMake find_package(drake) mechanism to find an installed instance of Drake.

To include Drake path as a flag in CMake use -DCMAKE_PREFIX_PATH. For example,

cd robot-plan-runner
mkdir build && cd build 
cmake -DCMAKE_PREFIX_PATH=/opt/drake ..
make -j4

To use lcm types defined within plan runner, add the python path: export PYTHONPATH={ROBOT_PLAN_RUNNER_DIR}/build/robot-plan-runner-lcmtypes:${PYTHONPATH}

To use the client as an external module, add the python path: export PYTHONPATH={ROBOT_PLAN_RUNNER_DIR}/src:${PYTHONPATH}

An incomplete design documentation can be found here.

Continuous Integration

  • CI is implemented by a custom Github Action that builds a docker image using ./jammy.dockerfile and runs the entrypoint script . /sciprts/buld_test.sh.