Prompt tools testing

capabilities2_fabric/config/fabric.yaml

@@ -1,5 +1,9 @@
 fabric_client:
   ros__parameters:
-    plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/navigation_2.xml" # WaypointRunner Example 2
+    plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/prompt_4.xml"     # PromptPlanRunner Example
+    # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/prompt_3.xml"     # PromptPoseRunner Example
+    # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/prompt_2.xml"     # PromptOccupancyRunner Example
+    # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/prompt_1.xml"     # PromptCapabilityRunner Example
+    # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/navigation_2.xml" # WaypointRunner Example 2
     # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/navigation_1.xml" # WaypointRunner Example 1
     # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/default.xml"

capabilities2_fabric/docs/prompt_capability_runner_ex1.md

@@ -0,0 +1,38 @@
+## PromptCapabilityRunner Example
+
+### Dependencies
+
+This example uses prompt tools stack. Follow instructions from [Propmt Tools Dependency Installation](../../docs/prompt_tools_setup.md) to setup Prompt tools stack.
+
+### Plan selection
+
+Uncomment the  line related to `prompt_1.xml` in the `config/fabric,yaml` file
+
+### Build the package to apply changes
+
+In the workspace root run,
+
+```bash
+colcon build
+```
+
+### Start the Prompt Tools stack
+
+```bash
+source install/setup.bash
+ros2 launch prompt_bridge prompt_bridge.launch.py
+```
+
+### Start the Capabilities2 Server
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_server server.launch.py
+```
+
+### Start the Capabilities2 Fabric
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_fabric fabric.launch.py
+```

capabilities2_fabric/docs/prompt_occupancy_runner_ex1.md

@@ -0,0 +1,52 @@
+## PromptOccupancyRunner Example
+
+### Dependencies
+
+This example uses prompt tools stack, nav2 stack and turtlebot3. Follow instructions from [Nav2 Dependency Installation](../../docs/nav2_setup.md) to setup nav stack and [Propmt Tools Dependency Installation](../../docs/prompt_tools_setup.md) to setup nav stack.
+
+### Plan selection
+
+Uncomment the  line related to `prompt_2.xml` in the `config/fabric,yaml` file
+
+### Build the package to apply changes
+
+In the workspace root run,
+
+```bash
+colcon build
+```
+
+### Start the turtlebot simulation
+
+```bash
+export TURTLEBOT3_MODEL=waffle
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+```
+
+### Start the Navigation2 stack
+
+```bash
+source install/setup.bash
+ros2 launch nav_stack system.launch.py
+```
+
+### Start the Prompt Tools stack
+
+```bash
+source install/setup.bash
+ros2 launch prompt_bridge prompt_bridge.launch.py
+```
+
+### Start the Capabilities2 Server
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_server server.launch.py
+```
+
+### Start the Capabilities2 Fabric
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_fabric fabric.launch.py
+```

capabilities2_fabric/docs/prompt_plan_runner_ex1.md

@@ -0,0 +1,52 @@
+## PromptPlanRunner Example
+
+### Dependencies
+
+This example uses prompt tools stack, nav2 stack and turtlebot3. Follow instructions from [Nav2 Dependency Installation](../../docs/nav2_setup.md) to setup nav stack and [Propmt Tools Dependency Installation](../../docs/prompt_tools_setup.md) to setup nav stack.
+
+### Plan selection
+
+Uncomment the  line related to `prompt_4.xml` in the `config/fabric,yaml` file
+
+### Build the package to apply changes
+
+In the workspace root run,
+
+```bash
+colcon build
+```
+
+### Start the turtlebot simulation
+
+```bash
+export TURTLEBOT3_MODEL=waffle
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+```
+
+### Start the Navigation2 stack
+
+```bash
+source install/setup.bash
+ros2 launch nav_stack system.launch.py
+```
+
+### Start the Prompt Tools stack
+
+```bash
+source install/setup.bash
+ros2 launch prompt_bridge prompt_bridge.launch.py
+```
+
+### Start the Capabilities2 Server
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_server server.launch.py
+```
+
+### Start the Capabilities2 Fabric
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_fabric fabric.launch.py
+```

capabilities2_fabric/docs/prompt_pose_runner_ex1.md

@@ -0,0 +1,52 @@
+## PromptPoseRunner Example
+
+### Dependencies
+
+This example uses prompt tools stack, nav2 stack and turtlebot3. Follow instructions from [Nav2 Dependency Installation](../../docs/nav2_setup.md) to setup nav stack and [Propmt Tools Dependency Installation](../../docs/prompt_tools_setup.md) to setup nav stack.
+
+### Plan selection
+
+Uncomment the  line related to `prompt_3.xml` in the `config/fabric,yaml` file
+
+### Build the package to apply changes
+
+In the workspace root run,
+
+```bash
+colcon build
+```
+
+### Start the turtlebot simulation
+
+```bash
+export TURTLEBOT3_MODEL=waffle
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+```
+
+### Start the Navigation2 stack
+
+```bash
+source install/setup.bash
+ros2 launch nav_stack system.launch.py
+```
+
+### Start the Prompt Tools stack
+
+```bash
+source install/setup.bash
+ros2 launch prompt_bridge prompt_bridge.launch.py
+```
+
+### Start the Capabilities2 Server
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_server server.launch.py
+```
+
+### Start the Capabilities2 Fabric
+
+```bash
+source install/setup.bash
+ros2 launch capabilities2_fabric fabric.launch.py
+```

capabilities2_fabric/docs/waypoint_runner_ex1.md

@@ -1,4 +1,4 @@
-## WaypointRunner Example 1
+## WaypointRunner Example 1 - Single Goal
 
 ### Dependencies
 
@@ -37,7 +37,7 @@ source install/setup.bash
 ros2 launch capabilities2_server server.launch.py
 ```
 
-### Start the fabric
+### Start the Capabilities2 Fabric
 
 ```bash
 source install/setup.bash

capabilities2_fabric/docs/waypoint_runner_ex2.md

@@ -1,4 +1,4 @@
-## WaypointRunner Example 2
+## WaypointRunner Example 2 - Goal Sequence
 
 ### Dependencies
 
@@ -37,7 +37,7 @@ source install/setup.bash
 ros2 launch capabilities2_server server.launch.py
 ```
 
-### Start the fabric
+### Start the Capabilities2 Fabric
 
 ```bash
 source install/setup.bash