ROS2-BDI
A planning based Multi-Agent BDI architecture for ROS2
Docs Intro
The following is supposed to work as a brief, but sufficiently detailed introduction to the usage of ROS2-BDI.
If you haven't done it yet, you're strongly encouraged to give a quick read to the summary
of the inner workings of the framework presented in the home page and then follow the setup
instructions presented in the README of the github repository for the project.
The tool heavily relies on the PDDL language for its planning component, thus a preliminary knowledge of it, it's required too.
Basically, ROS2-BDI works on top of ROS2 Foxy which needs to be installed, alongside some other supporting ROS2 packages and C++ libraries ( boost C++, yaml-cpp ). Meticulously follow the provided instructions on github and you'll be fine. You'll notice they are provided for system running Ubuntu 20.04 LTS ( or other recent Ubuntu based distributions, such as Linux Mint 20+ ). You should be able to set up the framework for any system targeted by ROS2 Foxy though, provided you build and correctly set up the supporting and mentioned C++ libraries. Obviously, details of the setup and configuration procedures might differ from the canonical suggested installation using Ubuntu.
The documentation will guide you through to the active usage of the framework, by covering the following items of interest:
Basically, ROS2-BDI works on top of ROS2 Foxy which needs to be installed, alongside some other supporting ROS2 packages and C++ libraries ( boost C++, yaml-cpp ). Meticulously follow the provided instructions on github and you'll be fine. You'll notice they are provided for system running Ubuntu 20.04 LTS ( or other recent Ubuntu based distributions, such as Linux Mint 20+ ). You should be able to set up the framework for any system targeted by ROS2 Foxy though, provided you build and correctly set up the supporting and mentioned C++ libraries. Obviously, details of the setup and configuration procedures might differ from the canonical suggested installation using Ubuntu.
The documentation will guide you through to the active usage of the framework, by covering the following items of interest:
- The prototypes for the exploited ROS2 messages used in topics and services exposed and used by ROS2-BDI
- Setting up a ROS2 sensor node for a ROS2-BDI agent
- Setting up a ROS2 action executor for a ROS2-BDI agent
- Setting up and running the python script for starting the ROS2-BDI agent