How to run the system
The system can be used in different manners. The project provides an API to define custom binaries linked to specific robotic platforms described in [link to how to create binaries]. The actual project provides a simple binary to use OMPAS in simulation, by loading a domain with the description of the commands model. In simulation, OMPAS executes a command by executing the corresponding Scheme model. The project also provide an integration with Gobot-Sim a benchmark for acting and planning system, providing job shop scheduling problems.
OMPAS in simulation
# if needed go in the root folder of the project
cd rae
cargo run --bin ompas -- -d <path-to-domain> -p <path-to-problem>
OMPAS and Gobot-sim
# if needed go in the root folder of the project
cd gobot-sim
cargo run
Basic commands in OMPAS
Running one of those binary will automatically launch a REPL. Here is a list of basic commands that you can use to interact with the system. The complete list is available here :
(launch)launches RAE with and starts the platform.(get-state)returns a map with all the state of RAE, perceived and internal.(trigger-task task p1 ... pn)triggers a task with the parameters (p1...pn)(get-env <element>)returns the domain, or a specific element.