Manager Package

IMPORTANT: This repository only has support for ROS1 now, ROS2 support may come along at some point, feel free to contribute with a PR.

1. Installation

git submodule update --init --recursive

2. Description

RoboCup manager based on Petri Net Plans, running with ROS Noetic.

Exhaustive documentation available there

"Petri Net Plans (PNP) is a formalism for high level description of complex plans (i.e., set of actions interacting in a complex way). PNP is useful to program cognitive agents (such as robots, video game agents, multi-robot/multi-agent systems, etc.)."

Example of a Petri Net from PNP Documentation:

3. Usage

Two principle parts are necessary to make it work on a real world task:

• Petri Net modelisation and generation.
• Development of high level actions and conditions using ROS.

3.1 Petri Net Modelisation and Generation

A RoboCup task can quickly become complicated to design, especially when you have a lot of execution rules and exceptions to take into account.

You can visualise these Petri Net modelisations using the Jarp editor available on the Petri Net Plans repo:

# In your computer
git clone https://github.com/iocchi/PetriNetPlans.git
cd PetriNetPlans/Jarp
./jarp.sh

Petri Plans are stored in the demo_pnp/plans folder.

3.2 Functionnality test with GPRS scenario

# Launch Petri Net module with Demo Actions on the robot
roslaunch manager_pepper robobreizh_manager.launch

Everything should initialise correctly, "Waiting for a plan..." should be written in the end of the intialisation process.

In a second terminal, you can publish on topic /pnp/planToExec to indicate which Petri Plan the manager must use. Petri Plans must be stored inside plans folder. We'll use the plan called "GPSR" here.

# If you want to use a ROS Noetic installation on the robot or on your computer
rostopic pub /pnp/planToExec std_msgs/String "data: 'GPSR'"

4. Troubleshooting compiling errors

If you can't compile, you can try adding some paths to your bashrc (or the Gentoo Equivalent)

echo "export PNP_HOME=/home/nao/.local/PetriNetPlans" >> ~/.bash_profile
echo "export PNP_INCLUDE=${PNP_HOME}/PNP/include/" >> ~/.bash_profile
echo "export PNP_LIB=/home/nao/.local/bin/usr/local/lib/" >> ~/.bash_profile

Then, restart your SSH terminal to take the changes into account.

5. How to register actions and conditions

Actions and conditions must be registered on the main file available in src/RoboBreizhManager.cpp.

6. Other commands

You can stop the plan before its end using:

**If you want to use a ROS Noetic installation on the robot or on your computer**
rostopic pub /pnp/planToExec std_msgs/String "data: 'stop'" --once

Legacy code

Some functions were used in previous code. To avoid compiling them a global variable named ```LEGACY`` has been added. You need to set it as a compiling argument in order to make it run.

Citations

If you use this project, please consider citing:

@incollection{buche2023robocup,
  title={RoboCup@ Home SSPL Champion 2023: RoboBreizh, a Fully Embedded Approach},
  author={Buche, C{\'e}dric and Neau, Ma{\"e}lic and Ung, Thomas and Li, Louis and Wang, Sinuo and Bono, C{\'e}dric Le},
  booktitle={Robot World Cup},
  pages={374--385},
  year={2023},
  publisher={Springer}
}