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rosplan_demos

Each demo package contains a README with description and instructions for both installation and running.

Stage Demos

Stage Demo rosplan_stage_demo (melodic)
This demo uses the STAGE simulation, spawning a single robot in simulation. This demo contains the base maps and launches upon which the other stage demos are built.

<p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_stage_demo/stage_demo.png" width="50%"></p>

Stage Exploration rosplan_stage_exploration_demo (melodic)
This demo uses the STAGE simulation, spawning a single robot or multi-robots to visit one or more waypoints. The demo includes generating a problem, planning, and executing a very simple plan.

<p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_stage_exploration_demo/rosplan_exploration_demo.png" width="50%"></p>

Task-Aware Waypoint Sampling rosplan_stage_waypoint_demo (melodic)
This demonstrates ROB-IS and builds upon the STAGE demo. The robot is required to complete inspection missions and uses the ROB-IS package for task-aware waypoint sampling.

<p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_stage_waypoint_demo/rosplan_waypoint_demo.png" width="25%"></p>

Gazebo Demos

Turtlebot2 Exploration rosplan_turtlebot2_demo (kinetic)
This demo is a simple exploration mission. The robot visits randomly generated waypoints around a map.
Turtlebot3 Exploration rosplan_turtlebot3_demo (melodic)
This demo is a simple exploration mission. The robot visits randomly generated waypoints around a map.