Automated Planning - Interplanetary Museum Vault (IMV)

Student: Martina Panini
Course: Automated Planning: Theory and Practice (2025/2026)

Repository for the Interplanetary Museum Vault (IMV) project. This repository contains the solution for the Automated Planning assignment, covering Classical, Optimal, Hierarchical (HTN), and Temporal planning, culminating in a ROS 2 integration using PlanSys2.

📂 Repository Structure

• Dockerfile: Environment definition (ROS 2 Humble + Planutils + PlanSys2).
• Planners/: PDDL/HDDL domains and problems for scenarios 1 through 4.
  • Problem 1: Classical Planning (LAMA).
  • Problem 2: Optimal Planning (Fast Downward).
  • Problem 3: HTN Planning (Panda).
  • Problem 4: Temporal Planning (Optic).
• plansys2_ws/: ROS 2 Workspace for Problem 5.
  • src/imv_problem_5: Custom package containing the PDDL 2.1 domain, Lifecycle Nodes (C++), and Launch files.

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🛠️ Installation & Setup

The project is fully containerized to ensure reproducibility.

Prerequisites

• Docker installed on your machine.
• (Optional) An X11 server if you intend to use GUI tools (e.g., rqt), though the project runs fully in the terminal.

1. Build the Docker Image

From the root of this repository, build the image. This installs ROS 2, compiles PlanSys2, and sets up Planutils.

docker build -t imv_planning .

2. Run the Docker Container

docker run -it --rm --name imv_container \
    -v $(pwd):/root/Automated_Planning \
    imv_planning

✅ Running the planners

Problem 1 - Classical Planning (LAMA)

cd /root/Automated_Planning/Planners/Problem\ 1
downward --alias lama-first domain_1.pddl problem_1.pddl

planutils run lama-first domain_1.pddl problem_1.pddl

Problem 2 - Optimal Planning (Fast Downward)

cd /root/Automated_Planning/Planners/Problem\ 2
downward --alias seq-opt-lmcut domain_2.pddl problem_2.pddl

planutils run downward -- --alias seq-opt-lmcut domain_2.pddl problem_2.pddl

Problem 3 - HTN Planning (Panda)

cd /root/Automated_Planning/Planners/Problem\ 3
downward --alias htn domain_3.pddl problem_3.pddl

planutils run htn domain_3.pddl problem_3.pddl

Problem 4 - Temporal Planning (Optic)

cd /root/Automated_Planning/Planners/Problem\ 4
downward --alias optic domain_4.pddl problem_4.pddl

planutils run optic domain_4.pddl problem_4.pddl

Running PlanSys2

cd /root/plansys2_ws

colcon build --symlink-install --packages-select imv_problem_5
source install/setup.bash
ros2 launch imv_problem_5 solution.launch.py

Inside terminal 2:

docker exec -it automated_planning bash

cd /root/plansys2_ws

source install/setup.bash

ros2 run plansys2_terminal plansys2_terminal

source src/imv_problem_5/pddl/setup_problem.txt

get plan

run