Gerard Canal, Michael Cashmore (King's College London) Daniele Magazzeni (King's College London)
AI Planning has proved very useful in robotics domains, from the control of the robot Shakey to challenging problems such as Mars exploration. However, the integration of a task planner can be tedious, with the need for crafting custom interfaces for planning and plan execution. If a different planner needs to be used or tested, the problem must be solved again. ROSPlan tackles this challenge by providing a framework to connect the standard Planning language PDDL and ROS. Its highly modular design allows for easy exchange of components and many additional features.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.