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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
  1. Setup TFD path
export TFD_HOME=<path_to_Automated_planning>/exercise_5/src/TemporalFastDownward/downward
cd <path_to_Automated_planning>/exercise_5
  1. Compile tfd
cd src/TemporalFastDownward && ./build && cd ../..
  1. Build ros workspace
colcon build --symlink-install
source install/setup.bash
  1. Run domain and executors
ros2 launch planner planner_launch.launch.py
  1. Run plansys terminal in another shell
ros2 run plansys2_terminal plansys2_terminal
  1. 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.