Video: Autonomous Task Planning and Execution - Using the RAFCON Task Planner Plugin
This video is a showcase, demonstrating how the RAFCON Task Planner Plugin (RTPP) can be used to automatically generate a RAFCON state machine, which is ready to be executed.
Therefore, we simulated the ROBEX moon analouge mission in Gazebo. We use it to show how the task of deploying a seismic network is planned by the plugin, and executed automatically by a rover, called Lightweight Rover Unit (LRU).
During the mission, the LRU has to grasp four seismometers, which are attached to a Lander, and deploy them as a seismic network. Before the LRU can execute this task, it has to be planned. That's where the RAFCON Task Planner Plugin comes into play: It uses a task description, and the robot's capabilities, to plan each step needed to accomplish the mission. Subsequently, it prepares the necessary state machine and runs it on the simulated LRU.
RAFCON Task Planner Plugin: https://dlr-rm.github.io/rafcon-task-planner-plugin/
RAFCON: https://dlr-rm.github.io/RAFCON/
LRU: https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-11431/#gallery/32387
More Information: https://dlr-rm.github.io/rafcon-task-planner-plugin/pages/tutorials/robex_seismic_network_example.html
Video: Autonomous Task Planning and Execution - Using the RAFCON Task Planner Plugin
Video: Autonomous Task Planning and Execution - Using the RAFCON Task Planner Plugin
This video is a showcase, demonstrating how the RAFCON Task Planner Plugin (RTPP) can be used to automatically generate a RAFCON state machine, which is ready to be executed.
Therefore, we simulated the ROBEX moon analouge mission in Gazebo. We use it to show how the task of deploying a seismic network is planned by the plugin, and executed automatically by a rover, called Lightweight Rover Unit (LRU).
During the mission, the LRU has to grasp four seismometers, which are attached to a Lander, and deploy them as a seismic network. Before the LRU can execute this task, it has to be planned. That's where the RAFCON Task Planner Plugin comes into play: It uses a task description, and the robot's capabilities, to plan each step needed to accomplish the mission. Subsequently, it prepares the necessary state machine and runs it on the simulated LRU.
RAFCON Task Planner Plugin: https://dlr-rm.github.io/rafcon-task-planner-plugin/
RAFCON: https://dlr-rm.github.io/RAFCON/
LRU: https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-11431/#gallery/32387
More Information: https://dlr-rm.github.io/rafcon-task-planner-plugin/pages/tutorials/robex_seismic_network_example.html
Credit: DLR (CC BY-NC-ND 3.0)
Duration:00:03:09