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Affordance Planning Framework

This repository encompasses two C++ packages, namely affordance_util and cc_affordance_planner, collectively forming a standalone library framework for affordance planning based on the closed-chain affordance model described in the paper referenced at <paper_reference>.

Installation Instructions

Follow these steps to install the affordance_util and cc_affordance_planner libraries:

  1. Create a temporary directory and clone this repository in there:

    mkdir ~/temp_cca_ws && cd ~/temp_cca_ws

    git clone [email protected]:UTNuclearRoboticsPublic/closed_chain_affordance.git

  2. Navigate to the affordance_util directory and create a build folder at the same level as the src folder and navigate to it:

    cd closed_chain_affordance/affordance_util/ && mkdir build && cd build

  3. Run CMake to configure the build process. This will generate the build system files in the build directory. Also turn the PIC flag on so the ROS packages that use this can make shared objects:

    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON

  4. Execute the following command to build the project:

    cmake --build .

  5. Install the affordance_util library and header files:

    sudo cmake --install .

  6. Repeat the above process for the cc_affordance_planner package.

    cd ~/temp_cca_ws/closed_chain_affordance/cc_affordance_planner

    mkdir build && cd build

    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON && cmake --build . && sudo cmake --install .

  7. Remove the temporary directory along with this repo clone since we don't need them anymore:

    cd && rm -rf ~/temp_cca_ws

ROS2 Implementation

If using ROS2 to interface the installed closed-chain affordance planner with a physical robot, go to the following repository and follow instructions there:
ROS2 implementation instructions

Optional Usage Information

If you need to use these libraries in other projects, you can do so by adding the following to your CMakeLists file and linking the libraries, for instance, affordance_util against your desired targets:

FIND_LIBRARY(affordance_util_LIBRARIES affordance_util /usr/local/lib)

Note: Verify that the libraries were indeed installed in the /usr/local/lib folder and that the header files were placed in the /usr/local/include folder. This can be done by ensuring each of the following commands returns some output. If installed elsewhere, replace the path in the above call.

ls /usr/local/lib/ | grep affordance_util

ls /usr/local/include/ | grep affordance_util

ls /usr/local/lib/ | grep cc_affordance_planner

ls /usr/local/include/ | grep cc_affordance_planner

Author

Janak Panthi aka Crasun Jans