Package Summary

Tags No category tags.
Version 0.0.5
License Apache License, Version 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelligentRoboticsLabs/ros2_planning_system.git
VCS Type git
VCS Version eloquent-devel
Last Updated 2020-01-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains the Domain Expert module for the ROS2 Planning System

Additional Links

No additional links.

Maintainers

  • Francisco Martin Rico

Authors

No additional authors.

Domain Expert

The Domain Expert module is responsible for maintaining the PDDL domain.

The main class is plansys2::DomainExpertNode, which is instantiated from domain_expert_node.cpp. plansys2::DomainExpertNode is a also rclcpp_lifecycle::LifecycleNode, but currently the functionality is in the active phase.

The class responsible for maintaining this domain is plansys2::ProblemExpert, which is independent of ROS2.

The Problem Expert is dynamic and volatile, accessing its functionality through ROS2 services. To facilitate the task of the application developer, an plansys2::ProblemExpertClient class has been implemented that hides the complexity of handling ROS2 messages and services. Its API is similar to that of plansys2::ProblemExpert, since both have to implement the plansys2::ProblemExpertInterface interface.

The Problem Expert instantiates a plansys2::DomainExpertClient, and every update query is verified against domain to check if it is valid.

Every update in the Problem, is notified publishing a std_msgs::msg::Empty in /problem_expert/update_notify. It helps other modules and applications to be aware of updates, being not necessary to do polling to check it.

Services:

Published topics

  • /problem_expert/update_notify [std_msgs::msg::Empty]
CHANGELOG

Changelog for package plansys2_domain_expert

0.0.5 (2020-01-12)

  • Add multi domain Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Avoid inserting duplicate types Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Contributors: Francisco Martin Rico

0.0.4 (2020-01-09)

  • Adding missing action dependencies Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Contributors: Francisco Martin Rico

0.0.3 (2020-01-09)

0.0.2 (2020-01-08)

  • Merge pull request #16 from IntelligentRoboticsLabs/pddl_parser_rename Rename pddl_parser
  • Rename pddl_parser Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Merge pull request #8 from IntelligentRoboticsLabs/patrol_example Patrol example
  • Patrol example Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Packages.xml description Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Adding documentation Signed-off-by: Francisco Martin Rico <fmartin@gsyc.urjc.es>
  • Adding documentation Signed-off-by: Francisco Martin Rico <fmartin@gsyc.urjc.es>
  • Adding documentation Signed-off-by: Francisco Martin Rico <fmartin@gsyc.urjc.es>
  • Merge pull request #6 from IntelligentRoboticsLabs/documentation Documentation for Domain Expert
  • Documentation for Domain Expert Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Change to lowercasegit Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • First version of planner complete Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Update notification in problem Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Problem expert complete with terminal support Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Problem expert client and node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Goals in problem generation Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • ProblemExpert local complete Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Using shred_ptr. First commit Problem Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Domain types and messages changed Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Predicate Tree and types changed Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Planning terminal and domain clients Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • First version of domain expert Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Contributors: Francisco Martin Rico, Francisco Mart

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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