Automated_Planning_Project

Project done for the UniTn Automated Planning course held by Professor Marco Roveri

Running Exercise 1 and 2 problems

Inside docker:

planutils activate

downward --alias lama-first domain{1-2}.pddl problem_{1-2-3}.pddl

or

ff domain_file problem_file

Running Exercise 3 problems

java -jar ./PANDA.jar -parser hddl domain3.hddl problem_{1-2-3}_{4t-5t}.pddl

Running Exercise 4

Inside docker

planutils activate

tfd domain4.pddl problem_{1-2-3}.pddl

Running Exercise 5

1. Install dependency for plansys2

sudo apt-get install ros-humble-behaviortree-cpp

2. Setup TFD path

export TFD_HOME=<path_to_Automated_planning>/exercise_5/src/TemporalFastDownward/downward
cd <path_to_Automated_planning>/exercise_5

3. Compile tfd

cd src/TemporalFastDownward && ./build && cd ../..

4. Build ros workspace

colcon build --symlink-install
source install/setup.bash

5. Run domain and executors

ros2 launch planner planner_launch.launch.py

6. Run plansys terminal in another shell

ros2 run plansys2_terminal plansys2_terminal

7. Source problem file

source <path_to_Automated_planning>/exercise_5/src/planner/pddl/problem_{0-1-2-3}

Type run to solve and execute the plan.