-
Notifications
You must be signed in to change notification settings - Fork 23
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds --------- Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov>
- Loading branch information
3 people
authored
Dec 12, 2023
1 parent
9292616
commit c84eff2
Showing
29 changed files
with
1,648 additions
and
157 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,11 @@ | ||
| [submodule "isaac_msgs"] | ||
| path = communications/isaac_msgs | ||
| url = https://github.com/nasa/isaac_msgs.git | ||
| [submodule "astrobee/survey_manager/survey_planner/src/ros2_planning_system"] | ||
| path = astrobee/survey_manager/survey_planner/src/ros2_planning_system | ||
| url = https://github.com/bckempa/ros2_planning_system | ||
| branch = noetic-devel | ||
| [submodule "astrobee/survey_manager/survey_planner/src/ros1_lifecycle"] | ||
| path = astrobee/survey_manager/survey_planner/src/ros1_lifecycle | ||
| url = https://github.com/bckempa/ros1_lifecycle | ||
| branch = noetic-devel |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| \page survey Survey Manager | ||
|
|
||
| The ISAAC Survey Manager provides semi-autonomous planning and execution of panorama and stereophotography tasks to reduce operator loading and improve activity utilization. | ||
|
|
||
| \subpage survey_planner : Planning and scheduling of queued survey actions. |
7 changes: 7 additions & 0 deletions
7
astrobee/survey_manager/survey_planner/behavior_trees/collecting_panoramas.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| <root BTCPP_format="4" main_tree_to_execute = "MainTree" > | ||
| <BehaviorTree ID="MainTree"> | ||
| <Sequence name="root_sequence"> | ||
| <Move name="collecting_panoramas" goal="${arg2}"/> | ||
| </Sequence> | ||
| </BehaviorTree> | ||
| </root> |
7 changes: 7 additions & 0 deletions
7
astrobee/survey_manager/survey_planner/behavior_trees/move_to.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| <root BTCPP_format="4" main_tree_to_execute = "MainTree" > | ||
| <BehaviorTree ID="MainTree"> | ||
| <Sequence name="root_sequence"> | ||
| <Move name="move" goal="${arg2}"/> | ||
| </Sequence> | ||
| </BehaviorTree> | ||
| </root> |
8 changes: 8 additions & 0 deletions
8
astrobee/survey_manager/survey_planner/behavior_trees/move_to_inspect.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| <root BTCPP_format="4" main_tree_to_execute = "MainTree" > | ||
| <BehaviorTree ID="MainTree"> | ||
| <Sequence name="root_sequence"> | ||
| <NavigateNode name="move_to_inspect" robot="${arg0}" pose_id="${arg2}" /> | ||
| <!--<TakePictureNavCam robot="${arg0}" waypoint="${arg2}"/>--> | ||
| </Sequence> | ||
| </BehaviorTree> | ||
| </root> |
54 changes: 54 additions & 0 deletions
54
astrobee/survey_manager/survey_planner/data/jem_survey_dynamic.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| # Copyright (c) 2023, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking | ||
| # platform" software is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
|
|
||
| # Example dynamic configuration info used when generating a PDDL problem. For now, this is goal | ||
| # conditions and initial state. A likely conops is that the initial version of this file for a | ||
| # specific activity would be hand-generated, but it might later be automatically regenerated by the | ||
| # survey manager when a replan is needed (remove completed/failed goals, add retry goals, update | ||
| # initial state to match actual current state, etc.) See also jem_survey_static.yaml. | ||
|
|
||
| goals: | ||
|
|
||
| - {type: panorama, robot: bumble, order: 0, location: jem_bay4, run: 1} | ||
| - {type: panorama, robot: bumble, order: 1, location: jem_bay3, run: 1} | ||
| - {type: panorama, robot: bumble, order: 2, location: jem_bay2, run: 1} | ||
| - {type: panorama, robot: bumble, order: 3, location: jem_bay1, run: 1} | ||
| - {type: stereo, robot: bumble, order: 4, trajectory: jem_bay1_to_bay3, run: 1} | ||
|
|
||
| # We want Bumble to return to its berth at the end of the run, but adding this goal causes POPF to | ||
| # get confused and greatly increase the total run time. For some reason, it doesn't notice it can | ||
| # use the same plan as without this goal and then add some motion actions at the end to achieve this | ||
| # goal. Instead, it falls back to only undocking one robot at a time, which slows things down by | ||
| # about 2x. | ||
| # - {type: robot_at, robot: bumble, location: berth1} | ||
|
|
||
| - {type: panorama, robot: honey, order: 0, location: jem_bay7, run: 1} | ||
| - {type: panorama, robot: honey, order: 1, location: jem_bay6, run: 1} | ||
| - {type: panorama, robot: honey, order: 2, location: jem_bay5, run: 1} | ||
|
|
||
| # This is another objective we want to include that for some reason causes POPF to fail to generate | ||
| # a plan (hang indefinitely). No obvious reason why it should cause a problem. | ||
| # - {type: stereo, robot: honey, order: 3, trajectory: jem_bay4_to_bay7, run: 1} | ||
|
|
||
| - {type: robot_at, robot: honey, location: berth2} | ||
|
|
||
| init: | ||
| bumble: | ||
| location: berth1 | ||
| honey: | ||
| location: berth2 |
59 changes: 59 additions & 0 deletions
59
astrobee/survey_manager/survey_planner/data/jem_survey_static.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| # Copyright (c) 2023, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking | ||
| # platform" software is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
|
|
||
| # Static configuration info used when generating a PDDL problem and also when executing actions in a | ||
| # PDDL plan. This info should be static in the sense that it nominally doesn't change during an ISS | ||
| # activity, so the survey manager doesn't have to modify it. However, an edge case is that an | ||
| # operator might want to manually edit something in here (like add a new symbolic location or nudge | ||
| # the position of a named bay away from an obstacle) and restart the survey manager. On the other | ||
| # hand, info that is *expected* to change as part of the survey manager conops belongs in | ||
| # jem_survey_dynamic.yaml. | ||
|
|
||
| # Useful reference for positions and stereo survey trajectories: | ||
| # https://babelfish.arc.nasa.gov/confluence/display/FFOPS/ISAAC+Phase+1X+Activity+9+Ground+Procedure | ||
|
|
||
| bays: | ||
| # 3D coordinates for symbolic bays in ISS Analysis Coordinate System used by Astrobee | ||
| jem_bay1: [11.0, -4.0, 4.8] | ||
| jem_bay2: [11.0, -5.0, 4.8] | ||
| jem_bay3: [11.0, -6.0, 4.8] | ||
| jem_bay4: [11.0, -7.0, 4.8] | ||
| jem_bay5: [11.0, -8.0, 4.8] | ||
| jem_bay6: [11.0, -9.0, 4.8] | ||
| jem_bay7: [11.0, -9.7, 4.8] | ||
|
|
||
| bogus_bays: [jem_bay0, jem_bay8] | ||
| berths: [berth1, berth2] | ||
| robots: [bumble, honey] | ||
| num_orders: 10 | ||
|
|
||
| stereo: | ||
| # Meta-data about stereo survey options | ||
| jem_bay1_to_bay3: | ||
| # fplan: Name of external fplan specification of trajectory in astrobee_ops/gds/plans/ISAAC/ | ||
| fplan: "jem_stereo_mapping_bay1_to_bay3.fplan" | ||
| # base_location: Where trajectory starts and ends for planning purposes (rough location, not exact) | ||
| base_location: jem_bay1 | ||
| # bound_location: The other end of the interval covered by the trajectory, for planner collision | ||
| # check purposes. (Note a trajectory may fly a bit into a bay that it doesn't claim to cover. | ||
| # The two surveys that cover the module purposefully overlap.) | ||
| bound_location: jem_bay4 | ||
| jem_bay4_to_bay7: | ||
| fplan: "jem_stereo_mapping_bay4_to_bay7.fplan" | ||
| base_location: jem_bay7 | ||
| bound_location: jem_bay4 |
31 changes: 31 additions & 0 deletions
31
astrobee/survey_manager/survey_planner/data/sample_output_plan.txt
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| $ time popf domain_survey.pddl problem_jem_survey.pddl | ||
| Constructing lookup tables: [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%] | ||
| Post filtering unreachable actions: [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%] | ||
| 3% of the ground temporal actions in this problem are compression-safe | ||
| b (25.000 | 30.000)b (24.000 | 50.001)b (23.000 | 70.002)b (22.000 | 90.003)b (21.000 | 990.004)b (20.000 | 990.004)b (19.000 | 1010.005)b (18.000 | 1910.006)b (17.000 | 1910.006)b (16.000 | 1930.007)b (15.000 | 2830.008)b (14.000 | 2830.008)b (13.000 | 2850.009)b (12.000 | 3750.010)b (11.000 | 3750.010)b (10.000 | 4350.011)b (9.000 | 4350.011)b (8.000 | 4350.011)b (7.000 | 4350.011)b (6.000 | 4350.011)b (5.000 | 4350.011)b (4.000 | 5270.013)b (3.000 | 5270.013)b (2.000 | 5290.014)b (1.000 | 5310.015);;;; Solution Found | ||
| ; Time 0.56 | ||
| 0.000: (undock bumble berth1 jem_bay7 jem_bay8 jem_bay6) [30.000] | ||
| 30.001: (move bumble jem_bay7 jem_bay6 jem_bay5) [20.000] | ||
| 50.002: (move bumble jem_bay6 jem_bay5 jem_bay4) [20.000] | ||
| 70.003: (move bumble jem_bay5 jem_bay4 jem_bay3) [20.000] | ||
| 70.003: (undock honey berth2 jem_bay7 jem_bay8 jem_bay6) [30.000] | ||
| 90.004: (panorama bumble o0 jem_bay4 run1) [900.000] | ||
| 100.004: (panorama honey o0 jem_bay7 run1) [900.000] | ||
| 990.005: (move bumble jem_bay4 jem_bay3 jem_bay2) [20.000] | ||
| 1000.005: (move honey jem_bay7 jem_bay6 jem_bay5) [20.000] | ||
| 1010.006: (panorama bumble o1 jem_bay3 run1) [900.000] | ||
| 1020.006: (panorama honey o1 jem_bay6 run1) [900.000] | ||
| 1910.007: (move bumble jem_bay3 jem_bay2 jem_bay1) [20.000] | ||
| 1930.008: (panorama bumble o2 jem_bay2 run1) [900.000] | ||
| 2830.009: (move bumble jem_bay2 jem_bay1 jem_bay0) [20.000] | ||
| 2850.010: (panorama bumble o3 jem_bay1 run1) [900.000] | ||
| 3750.011: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay5 jem_bay3 run1) [600.000] | ||
| 4350.012: (move honey jem_bay6 jem_bay5 jem_bay4) [20.000] | ||
| 4370.013: (panorama honey o2 jem_bay5 run1) [900.000] | ||
| 5270.014: (move honey jem_bay5 jem_bay6 jem_bay7) [20.000] | ||
| 5290.015: (move honey jem_bay6 jem_bay7 jem_bay8) [20.000] | ||
| 5310.016: (dock honey jem_bay7 berth2) [30.000] | ||
|
|
||
| real 0m0.585s | ||
| user 0m0.553s | ||
| sys 0m0.032s |
Oops, something went wrong.