plansys2-hospital

Repository for planning and move through the hospital gazebo world using plansys2.

How to run

Launch the plansys2 bringup and action nodes + the gazebo world with the tiago robot

ros2 launch plansys2_hospital_l4ros2 plansys2_hospital_launch.py

Then launch the navigation separately (it couldn't be added to our launcher):

ros2 launch br2_navigation tiago_navigation.launch.py map:=/home/ivrolan/foxy_ws/src/plansys2-hospital-l4ros2/maps/hospital_map.yaml

The plansys2 controller that commands the different goals:

ros2 run plansys2_hospital_l4ros2 hospital_controller_node

Here we can see images of the gazebo world, the map created by the robot and the scheme that we will follow to define the problem in pddl format:

Name		Name	Last commit message	Last commit date
Latest commit History 65 Commits
config		config
imgs		imgs
include		include
launch		launch
maps		maps
pddl		pddl
src		src
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml