HERON High Level Planner

High level planner (HLP) for the HERON project. This planner interfaces with the robot (UGV). the vision components (ICCS), and a Kafka server to recieve missions, plan, send commands for road maintanence tasks.

The HLP uses behaviour trees (BTs) to sequence through the mission.

Packages

• heron_planner: Main HLP packages with behaviour
• heron_ui: RViz panel with buttons to send service calls to HLP.
• heron_utils: Utilities for running tree, visulising tree, transforms.
• dummy_interface: Python utilities commonly used within moma projects.

Installation

Note that all instructions in this repository are tested on Ubuntu 20.04 with ROS-noetic.

First, clone this repository into the src folder of a new or existing catkin workspace.

git clone --recurse-submodules git@github.com:ethz-asl/heron_planner.git

This repo depends on packages:

• heron_msgs
• ros_kafka_connector
• ros_trees

Plus robotnik_navigation_msgs, robotnik_msgs, heron_msgs, and robot_simple_command_manager_msgs from Robotnik.

Getting started

To run the service servers:

roslaunch heron_planner run_hlp_servers.launch

Then in a new terminal run the behaviour tree:

rosrun heron_planner cone_place_bt.py

You can view a flask server on the webpage: http://127.0.0.1:5050/

Installation with docker (WIP)

Coming soon!