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ow_autonomy

This package contains a candidate onboard autonomy component for an Ocean Worlds lander, namely a ROS node (named autonomy node) embedding a PLEXIL plan executive.

Contents

src/plans directory contains the PLEXIL plans.

src/plexil-adapter contains the supporting code needed to run the PLEXIL plans, and also the ROS node implementation.

See the README.md files in each subdirectory for more information.

Build

See Getting Started for complete installation and build instructions as well as hardware/software requirements. This file recaps a few key points and has some supplementary information.

A prerequisite for building and running this package is a working PLEXIL installation, which has its own prerequisites. The environment variable PLEXIL_HOME must be set to PLEXIL's installation pathname.

Your ROS environment should also first be set up:

 source <catkin-workspace>/devel/setup.sh

Assumed is this directory filed properly within an OceanWATERS ROS workspace (see ow_simulator/oceanwaters/setup_oceanwaters.md for instructions). Build the entire workspace with:

 catkin build

Build just the ow_autonomy package with:

 catkin build ow_autonomy

NOTE: If any new PLEXIL plans (.plp or .ple files) have been added since your last build, a clean rebuild of ow_autonomy is needed. See bottom of this file for instructions.

Start the autonomy node

1. First you must start the simulator, e.g.

  roslaunch ow europa_terminator.launch

NOTES: - to omit the Gazebo GUI for faster performance, add gzclient:=false - for alternate terrains, other launch files are available: atacama_y1a.launch, europa_terminator_workspace.launch, europa_test_dem.launch.

2. Next start the autonomy node. Starting the autonomy node always runs a PLEXIL plan. The simplest version is:

   roslaunch ow_autonomy autonomy_node.launch

   This invocation loads the default PLEXIL plan, Demo.plx. A specific plan may be run by adding it to the command line, e.g.

   roslaunch ow_autonomy autonomy_node.launch plan:=ReferenceMission1.plx

   The argument given to the plan parameter must be a file found in :

   <ow_workspace>/devel/etc/plexil

   See plans/README.md for a description of the PLEXIL plans.

Clean

To clean (remove all build products from) just the ow_autonomy package:

cd <ow_workspace>/build rm -rf ow_autonomy

To clean the entire ROS workspace (not needed if you only want to rebuild ow_autonomy):

catkin clean