Simulating Robotics Planning Domains with PDSim and ROS
Keywords: Knowledge Representation, Simulation, Plan Visualisation, Game Engine, Robotics
Abstract: This paper describes work on the Planning Domain Simulation System (PDSim) and its application to robotics.
PDSim is a plugin for the Unity game engine for visualising planning domains and plans. PDSim's original system design translates the output of a planner to 2D or 3D animations and effects. PDSim aims to assist users in evaluating the quality of a plan and improve domain and problem modelling.
This system demonstration outlines the basic structure of PDSim and how to integrate it with the Robotics Operating System (ROS) to simulate plans in robotics domains. An example with a robotic arm is used to showcase how to interface with ROSbags to be able to visualise sensors from an Internet of Things (IoT) environment used for daily assistive living. Furthermore, the demo also shows how to interact with the robotics PDSim API for plan repair and replanning.
Submission Number: 10
Loading