…xecute_goals

…xecute_goals

* 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* Removed outdated PDDL files per @trey0

nasa#107 (comment)

* Revert CI upgrades for APK builds

---------

Co-authored-by: Abiola Akanni <[email protected]>
Co-authored-by: Trey Smith <[email protected]>

make survey manager PR's run CI

…nager_execute_goals

…xecute_goals

…using geometry

…xecute_goals