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Plan Generation Node

Simple ROS node that parses and provides handcrafted action plans as a service based on CSV data. Used in the context of my master's thesis.

Plan Format (CSV)

Four actions are available in the scenario, and each line in the .csv file represents one action of the plan.

  • drive_to(lat, lng, theta)
  • return_to_base
  • charge
  • scan

Sample Plan:

drive_to,52.32043739026998,8.153532860027937,0
scan
drive_to,52.320634371203766,8.153602612483242,0
scan
return_to_base
charge

Run Node with Default Plan (plan.csv)

$ roslaunch plan_generation plan_generation.launch

Run Node with Custom Plan

$ roslaunch plan_generation plan_generation.launch plan_path:=PATH_TO_PLAN

Plan Retrieval Service

$ rosservice call /plan_generation/get_plan