Plansys2 on Astrobee Noetic

.gitmodules

@@ -1,3 +1,11 @@
 [submodule "isaac_msgs"]
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
+[submodule "astrobee/survey_manager/survey_planner/src/ros2_planning_system"]
+	path = astrobee/survey_manager/survey_planner/src/ros2_planning_system
+	url = https://github.com/traclabs/ros2_planning_system
+	branch = noetic-devel
+[submodule "astrobee/survey_manager/survey_planner/src/ros1_lifecycle"]
+	path = astrobee/survey_manager/survey_planner/src/ros1_lifecycle
+	url = https://github.com/traclabs/ros1_lifecycle
+	branch = noetic-devel

README.md

@@ -33,6 +33,7 @@ the [Astrobee robot](https://github.com/nasa/astrobee). This repository includes
 - [Dense mapping](https://nasa.github.io/isaac/html/geometric_streaming_mapper.html) to create a textured 3D map
 - [Volumetric mapping](https://nasa.github.io/isaac/html/volumetric_mapper.html) to map volumetric signals, such as WiFi.
 - [Image analysis](https://nasa.github.io/isaac/html/ano.html) module to train a neural network to detect anomalies
+- [Survey Manager](https://nasa.github.io/isaac/html/survey.html) semi-autonomous planning and execution of imaging tasks.
 
 You may also be interested in the separate repository for the [ISAAC User Interface](https://github.com/nasa/isaac_user_interface),
 which enables monitoring of multiple robots through a web browser.

astrobee/readme.md

@@ -9,4 +9,6 @@ The Astrobeemodule contains the ISAAC additions to the Astrobee FSW
 
 \subpage sim : Gazebo plugins for simulation including acoustic and heat camera, RFID reader and emmiter, as well as WiFi reader and emmiters.
 
-\subpage gs_action_helper : Guest science action helper used to communicate with the ground through DDS messages
+\subpage gs_action_helper : Guest science action helper used to communicate with the ground through DDS messages
+
+\subpage survey : Semi-autonomous survey tasking of Astrobees.

astrobee/survey_manager/readme.md

@@ -0,0 +1,7 @@
+\page survey Survey Manager
+
+The ISAAC Survey Manager provides semi-autonomous planning and execution of panorama and stereophotography tasks to reduce operator loading and improve activity utilization.
+
+\subpage survey_manager : Control node for survey work crew participants, includes operator interface.
+
+\subpage survey_planner : Planning and scheduling of queued survey actions.

astrobee/survey_manager/survey_manager/readme.md

@@ -0,0 +1,14 @@
+\page survey_manager Survey Manager
+
+Control node for survey work crew participants, includes operator interface.
+
+Task Life Cycle
+---------
+``
+Unassigned Queue --(planning)--> Robot queue --(execution)–-> Verify Queue --(verified good)--> Complete
+            /\                                      |             |
+            |                                       |      (verified bad)
+            |                                   (exception)       |
+            |                                       |             |
+       {New Task} <--(retry)-- Failed Queue  <-----<-------------<-
+``

astrobee/survey_manager/survey_planner/readme.md

@@ -0,0 +1,5 @@
+\page survey_planner Survey Planner
+
+Planning and scheduling of queued survey actions using Playsys2 for PDPL solutions and behavior trees for execution.
+
+Based on [preliminary work](https://github.com/traclabs/astrobee_task_planning_ws) by [Ana](https://github.com/ana-GT) at [Traclabs](https://traclabs.com).

isaac/Subsystems.md

@@ -13,4 +13,6 @@ The ISAAC Repo contains the following Modules:
 
 \subpage astrobee : High-level actions that support complex maneuvers.
 
+\subpage survey : Semi-autonomous survey tasking of Astrobees.
+
 \subpage shared : Shared tools common to the entire ISAAC repo.

scripts/setup/packages_focal.lst

@@ -4,5 +4,6 @@ python3-osrf-pycommon
 python3-rosdep
 ros-noetic-eigen-conversions
 ros-noetic-pcl-ros
+ros-noetic-behaviortree-cpp
 libmnl-dev
 libproj-dev