pddl_planner

This package provides ROS interface for ff/ffha/downward planners

• ff: J. Hoffmann, B. Nebel, “The FF Planning System: Fast Plan Generation Through Heuristic Search”, in: Journal of Artificial Intelligence Research, Vol. 14, 2001, Pages 253-302.
• ffha: Emil Keyder, Hector Geffner, “The FF(ha) Planner for Planning with Action Costs”
• downward: http://www.fast-downward.org/

demos/sample-pddl

bare example

• ff example

roscd pddl_planner/demos/sample-pddl/
rosrun ff ff -f ./sample-problem.pddl -o sample-domain.pddl

• ffha example

roscd pddl_planner/demos/sample-pddl/
rosrun ffha ffha -f ./sample-problem.pddl -o sample-domain.pddl

• downward example

roscd pddl_planner/demos/sample-pddl/
rosrun downward plan sample-domain.pddl ./sample-problem.pddl ipc seq-sat-lama-2011 --plan-file sample.plan

ros example

This package provides ROS actionlib interface for planners, using API defined in pddl_msgs. Please see pddl_planner/demos/sample-pddl/sample-client.py for cliet example.

• ff example

roslaunch pddl_planner pddl_ff.launch
rosrun pddl_planner sample-client.py --text

• ffha example

roslaunch pddl_planner pddl_ffha.launch
rosrun pddl_planner sample-client.py --text

• downward example

roslaunch pddl_planner pddl_downward.launch
rosrun pddl_planner sample-client.py --text

Changelog for package pddl_planner

0.1.14 (2023-12-05)

• Fix regressons of https://github.com/jsk-ros-pkg/jsk_planning/pull/88, when [planner_option]{.title-ref} without &quat;, (#104)
• test to cehck #103 (planner_option without &quat;)
• https://github.com/jsk-ros-pkg/jsk_planning/pull/88 changes 'sp.Popen(command' to 'sp.Popen(" ".join(command)', this assumes [planner_option]{.title-ref} uses [--search &quat;iterated([lazy_greedy([hff,hlm], preferred=[hff,hlm]), ...)&quat;]{.title-ref} but some launch file uses [--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)]{.title-ref}, without &quat; and spaces, and jsk_planning 0.1.13 did not work this such eample(https://github.com/jsk-ros-pkg/jsk_demos/blob/ab0360b5580e77ca70006ce505497894fe4ac0d2/jsk_2013_04_pr2_610/test/test-demo-plan.test#L10), https://github.com/jsk-ros-pkg/jsk_demos/issues/1286 this fix uses shlex.split() to keep quated substrings and uses Popen(command, stead of Popen(" ".join(command), to input quated argument as one word.
• Contributors: Kei Okada

0.1.13 (2023-11-29)

• [pddl_panner/src/eus-pddl.l] support multiple simbols for 'forall and 'exists (#79)
• add test to reproduce https://github.com/jsk-ros-pkg/jsk_demos/issues/1286 (#88)
• add github/workflows (#101)
  • pddlresulttest: fix for python3, use map and https://stackoverflow.com/questions/60532658/python-2-vs-python-3-difference-in-map-behavior-with-three-arguments
  • pddl.py : fix for python3, bytes vs str
  • add launch_prefix and repet 5 times
  • exit when sovle.l was started from rostest
  • increase time-limit
  • run assertTrue at end of test
• update LPG download link (#97)
• Add obinata demo (#99)
  • Use only move-with-obj action by introducing none item
  • Use different initial condition for office demo and kitchen car demo
  • Add obinata's multiple robot cooperation demo
  • add launch to run simple_metric_plan
• add CHECK_PYTHON2_COMPILE, CHECK_PYTHON3_COMPILE (#96)
  • 2to3 -w -f has_key *
  • 2to3 -w -f print *
• cannot run graph-solver for pddl-graph (#94)
  • add test to check #92
  • :add-neighbor is obsolated methods, use :add-arc-from-to https://github.com/euslisp/jskeus/blob/689b015f0c727616e2745652423f2918d1e52252/irteus/irtgraph.l#L379
• add test to check pddl planning results (#89)
  • search_object/simple_failure_torelant : run euslisp planning script with repeat.sh
  • use unique test-name
  • use proc.returncode instead of proc.poll()
  • test multiple sequence_action at once
  • pddlresulttest: support multiple sequence at once
  • add add_rostest(test/search_object.test)
  • demos/search_object: use display_graph to gnome-open pdf
  • [pddl_planner/demos/search_object] fix bug, and add launch file
  • add_rostest for test directory
  • add pddl result test for demo
  • add simple_metric/simple_metric.launch
  • 2016_kamada_durative: demo.launch,example.launch starts euslisp file too, for complete example
  • gnome-open .pdf only when ~display_graph is set
  • use display_graph argument for launch file to skip gnome-open pdf demos/2008_okada_ias/demo_pour_tea.launch demos/2011_kakiuchi/demo_cleanup_table.launch demos/2011_saito/demo-knock-door.launch demos/2011_saito/demo-simple-task.launch demos/2011_saito/demo-taking-elevator.launch demos/simple_failure_torelant/demo_simple_failure_torelant.launch demos/2013_fridge_demo/demo_bring_can.launch demos/hanoi/demo_hanoi.launch
  • add pddlresulttest
  • use shell to run pddl solver
  • add test to reproduce https://github.com/jsk-ros-pkg/jsk_demos/issues/1286
• [pddl_planner/demos/simple_metrix] add launch file (#77)
• use xdg-open instad of evince. Both installed by ubuntu-desktop package (#76)
• [pddl_planner] format README.md (#74)
• Contributors: Kei Okada, Koki Shinjo, Naoki Hiraoka, Naoya Yamaguchi, Yoshiki Obinata

0.1.12 (2020-04-01)

• Add max_planning_time option (#70)
  • pddl_planner: revert run_depend
  • pddl.py: disable auto_start
  • add detailed infor!
  • pddl_planner: fix deadlock on planning process
  • pddl.py: print detailed info on error
• Set timeout for planning in task_compiler (#69)
  • pddl_planner: add timeout for planning function
• Fix: add failed state if no recovery action exists (#66)
  • pddl_planner: fix use global variables in function
• Fix miss configuration in test (#65)
• Contributors: Yuki Furuta

0.1.11 (2018-04-26)

• pddl_planner: pddl.py: remove (REACH-GOAL) on action which emerges occasionally (#61)
• Contributors: Yuki Furuta

0.1.10 (2017-03-03)

• [task_compiler] fix: symbol is compared with string (#60)
• Contributors: Yuki Furuta

0.1.9 (2017-03-01)

0.1.8 (2017-02-17)

• fix for kinetic (#52 )
  • CMakeLists.txt : clean up catkin_package() command
  • add lpg_planner to run_depends and remove planners from build_depends
• [pddl_planner] add relationship graph (#51 )
• add durative-action graph (#48 )
• make graph for durative action (#47 )
• add durative action mode (#46 )
• [pddl_planner&task_compiler] add test for task_compiler hook functions (#45 )
• Contributors: Kamada Hitoshi, Kei Okada, Yuki Furuta

0.1.7 (2016-05-28)

• [pddl_planner/demos/2013_fridge_demo/solve-bring-can.l] comment in recovery motion ( #43 )
• [pddl_planner/README] fix typo ( #42 )
• [pddl_planner/README] Update README.md, Add search option and plan file path to bare downward example ( #38 )
• Contributors: Grollo, Kamada Hitoshi, Yuki Furuta

0.1.6 (2015-12-15)

• pddl_planner: mv demos/sample-pddl/README README.md
• pddl_planner/demos/sample-pddl: add sample-client.py and its test to test-sample-pddl.test
• demos/sample-pddl/{sample-problem.pddl, README}: fix problem.pddl which fails on downward, and added to README
• add test for demos/sample-pddl directory
• [pddl_planner/CMakeLists.txt] add test to install
• [pddl/pddl_planner/package.xml] add time to run_depend for downward on hydro
• [pddl_planner] add test for pddl_planner
• Contributors: Yuki Furuta, Kei Okada

0.1.5 (2015-11-26)

0.1.4 (2015-06-11)

0.1.3 (2015-01-31)

• remove rosbuild stuff, change to pure catkin packages
• use rosrun instead of find_package to search pddl planner
• not use roslib in hydro
• add planner option for downward
• Contributors: Yuki Furuta, Kei Okada

0.1.2 (2014-05-06)

0.1.1 (2014-05-05)

• pddl_planner: add samples
• catkinize jsk_planning
• add solved-fridge-graph.l
• update step-state in a while loop
• merge ffha and downward clients
• suport fastdownward
• added metric plan sample
• fix: using single state in a node
• fix for metric plan
• rename action grasp-can -> grasp-object
• fix global variable name
• add comments to search_object plan
• udpate action name
• fix typo
• add pddl-plan-to-graph function for creating plan graph
• use require and provide in pddl_planner
• add pddl demo for searching an object where it is
• make enable to use specific failed action name
• fix waring message
• add keyword for using copy
• fix typo
• remove negative precondition keyword
• fix order of pddl effects
• update return value
• add planning domain for fridge demo
• read-from-string except ff:
• add :durative-actions examples
• set default display_graph value to true
• revert wrong fommit r4686 and fix when ~display_graph is not set
• mv samples/agentsystem.py demos/hanoi/solve-hanoi.py
• delete eus-sample.l, this is duplicate of demos/hanoi/solve-hanoi.l
• fix ffha.launch to show final domain representation, and fix pddl.py to check if final rep. is showen in the output
• delete debug files
• add comment to samples/agentsystem.py
• add sample-pddl
• support metrics and functions, [#89]
• use default variables, see [#89]
• add comment -g 6 -h 2 sometimes does not returns result
• ff does not have :data
• use append instaed of push-back
• add comment
• fix, old api?
• remove load command for irtgraph.l
• do not add the condition(state) already exists, and state compare test 'eq'->'not xor'
• changed the end condition in add-failed-nodes
• fix bug in sort-condition
• sort compare function should be <= or >=
• changed append -> union in apply-act function
• changed to use unreviewed version of irtgraph.l
• change the loop condition to make correct plan graph. (ex. Act1 is needed only after Act2 is failed)
• move some sample scripts to new package, task_compiler
• add level argument in demo-failure-recovery-task.launch
• add sample script for pddl->smach
• change sorting method to ignore negation of ffha-result conditions
• remove space from name of pddl-state, and make-readable-graph method
• move convert script from pddl to smach
• fix, add additional(fixed) condition to solved result
• add simple sample for PDDL->SMACH
• change name of predicates
• set 3 goals in pddl/2011_saito
• add goal nodes once
• add convert function from domain to eus script template
• fix add-failed-nodes for multiple results
• add another goal condition in one PDDL domain
• update PDDL-SMACH converter, I want to patch smach_viewer
• add smach convert sample
• dump :functions if functions slot is specified
• add additional-conditions for constant condition
• change for using REACHABLE
• add debug keyword for pddl-planning and fix minor bug
• delete REACHABLE predicates
• spell sepalate -> separate
• add knock door navigation problem
• add launch files for making graph pdf file
• add result parser and pddl samples
• add eus-pddl-client program
• update parser for pddl result
• add support constants for pddl-domain
• fix sample for using result parser
• add ffha-result-parser.l for making conditions of each step
• uncomment data valiable in pddl action and fix launch files
• fix, allow null parameters
• add ffha to the dependency
• add ffha (ff like pddl solver)
• fix: action parse when using typing
• fix: parse properly for more than 10 results
• update for latest roseus format
• move 3rdparty/pddl to jsk-ros-pkg/pddl, because pddl stack except ff is developed by R.Ueda and JSK, now 3rdparty
• mv jtalk and pddl to 3rdparty directory
• add pddl stack
• Contributors: Kei Okada, Yuki Furuta, Manabu Saito, Hiroyuki Mikita, Ryohei Ueda, Youhei Kakiuchi