Any demos/instructions to run rosplan on the real turtlebot instead of the gazebo and stage simulators

[goelshivam1210]

Hi,
I am new to rosplan and ROS. I am using turtlebot2 for my project and I want to use the rosplan interface to generate PDDLS and plans for my project. However, I did not find any resources in the repository which show integration with the real robot. Am I missing something or is there any repository that you can point me to.
Thanks!

[m312z]

Hello Shivam,

I don't think there is a specific launch file in the repository. However, from ROSPlan's perspective there is no difference between the simulation and real robot. You should be able to remove the Gazebo/Stage nodes from the launch file, bringup your robot, and launch the remaining nodes.

Just make sure (i) that ther are no duplicates such as move-base which appear in both bringup and rosplan launch, and (b) that the topic names for things like move-base and amcl are still matching. They should match, since the demos use the defaults, but you can check for topics without publishers, etc.

Best,
Michael