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plansys2_domain_expert package from ros2_planning_system repoplansys2_bringup plansys2_domain_expert plansys2_executor plansys2_lifecycle_manager plansys2_msgs plansys2_pddl_parser plansys2_planner plansys2_problem_expert plansys2_terminal |
Package Summary
| Tags | No category tags. |
| Version | 0.0.7 |
| 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 | 2020-03-26 |
| 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
Additional Links
Maintainers
- Francisco Martin Rico
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:
-
/problem_expert/add_problem_goal[plansys2_msgs::srv::AddProblemGoal] -
/problem_expert/add_problem_instance[plansys2_msgs::srv::AddProblemInstance] -
/problem_expert/add_problem_predicate[plansys2_msgs::srv::AddProblemPredicate] -
/problem_expert/get_problem_goal[plansys2_msgs::srv::GetProblemGoal] -
/problem_expert/get_problem_instance_details[plansys2_msgs::srv::GetProblemInstanceDetails] -
/problem_expert/get_problem_instances[plansys2_msgs::srv::GetProblemInstances] -
/problem_expert/get_problem_predicate_details[plansys2_msgs::srv::GetProblemPredicateDetails] -
/problem_expert/get_problem[plansys2_msgs::srv::GetProblem] -
/problem_expert/remove_problem_goal[plansys2_msgs::srv::RemoveProblemGoal] -
/problem_expert/remove_problem_instance[plansys2_msgs::srv::RemoveProblemInstance] -
/problem_expert/remove_problem_predicate[`plansys2_msgs::srv::RemoveProblemPredicate] -
/problem_expert/exist_problem_predicate[plansys2_msgs::srv::ExistProblemPredicate]
Published topics
-
/problem_expert/update_notify[std_msgs::msg::Empty]
Changelog for package plansys2_domain_expert
0.0.7 (2020-03-26)
- Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- Contributors: Francisco Martin Rico
0.0.6 (2020-03-23)
- Run in separate namespaces. Monolothic node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- 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>
- Avoid inserting duplicate types Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- Contributors: Francisco Martin Rico, Francisco Mart
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | ament_lint_common | |
| 1 | ament_lint_auto | |
| 1 | ament_cmake_gtest | |
| 1 | rclcpp | |
| 1 | rclcpp_action | |
| 1 | rclcpp_lifecycle | |
| 1 | ament_index_cpp | |
| 1 | plansys2_pddl_parser | |
| 1 | plansys2_msgs |