Package Summary
| Tags | No category tags. |
| Version | 2.0.0 |
| 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 | galactic-devel |
| Last Updated | 2021-07-05 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| 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 DomainExpertNode.cpp. plansys2::DomainExpertNode is a rclcpp_lifecycle::LifecycleNode and in its configuration phase reads the model_file parameter, which contains the .pddl file from which to read the model.
The class responsible for maintaining this domain is plansys2::DomainExpert, which is independent of ROS2.
The Domain Expert does not change while active, accessing its functionality through ROS2 services. To facilitate the task of the application developer, an plansys2::DomainExpertClient class has been implemented that hides the complexity of handling ROS2 messages and services. Its API is similar to that of plansys2::DomainExpert, since both have to implement the plansys2::DomainExpertInterface interface.
Services:
-
/domain_expert/get_domain[plansys2_msgs::srv::GetDomain] -
/domain_expert/get_domain_action_details[plansys2_msgs::srv::GetDomainActionDetails] -
/domain_expert/get_domain_actions[plansys2_msgs::srv::GetDomainActions] -
/domain_expert/get_domain_durative_action_details[plansys2_msgs::srv::GetDomainDurativeActionDetails] -
/domain_expert/get_domain_durative_actions[plansys2_msgs::srv::GetDomainActions] -
/domain_expert/get_domain_function_details[plansys2_msgs::srv::GetNodeDetails] -
/domain_expert/get_domain_functions[plansys2_msgs::srv::GetStates] -
/domain_expert/get_domain_predicate_details[plansys2_msgs::srv::GetNodeDetails] -
/domain_expert/get_domain_predicates[plansys2_msgs::srv::GetStates] -
/domain_expert/get_domain_types[plansys2_msgs::srv::GetDomainTypes]
Changelog for package plansys2_domain_expert
2.0.0 (2021-07-04)
- Compile for ROS2 Galactic
- Contributors: Francisco Mart
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged plansys2_domain_expert at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 1.0.10 |
| 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 | foxy-devel |
| Last Updated | 2021-07-05 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| 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 DomainExpertNode.cpp. plansys2::DomainExpertNode is a rclcpp_lifecycle::LifecycleNode and in its configuration phase reads the model_file parameter, which contains the .pddl file from which to read the model.
The class responsible for maintaining this domain is plansys2::DomainExpert, which is independent of ROS2.
The Domain Expert does not change while active, accessing its functionality through ROS2 services. To facilitate the task of the application developer, an plansys2::DomainExpertClient class has been implemented that hides the complexity of handling ROS2 messages and services. Its API is similar to that of plansys2::DomainExpert, since both have to implement the plansys2::DomainExpertInterface interface.
Services:
-
/domain_expert/get_domain[plansys2_msgs::srv::GetDomain] -
/domain_expert/get_domain_action_details[plansys2_msgs::srv::GetDomainActionDetails] -
/domain_expert/get_domain_actions[plansys2_msgs::srv::GetDomainActions] -
/domain_expert/get_domain_durative_action_details[plansys2_msgs::srv::GetDomainDurativeActionDetails] -
/domain_expert/get_domain_durative_actions[plansys2_msgs::srv::GetDomainActions] -
/domain_expert/get_domain_function_details[plansys2_msgs::srv::GetNodeDetails] -
/domain_expert/get_domain_functions[plansys2_msgs::srv::GetStates] -
/domain_expert/get_domain_predicate_details[plansys2_msgs::srv::GetNodeDetails] -
/domain_expert/get_domain_predicates[plansys2_msgs::srv::GetStates] -
/domain_expert/get_domain_types[plansys2_msgs::srv::GetDomainTypes]
Changelog for package plansys2_domain_expert
1.0.10 (2021-07-03)
- Remove node parameter in client constructors
- Adding unit tests for new functions in plansys2_domain_expert.
- Add ability to read in pddl problem files to plansys2 and a new AddProblem service to the plansys2_problem_expert. Adding problem_file node parameter to plansys2_problem_expert to load a single problem file at launch.
- Suggestion for #118
- pddl-tree-messages: Performing some minor cleanup.
- pddl-tree-messages: Using explicit specifier for single parameter constructors in plansys2_core/Types.hpp.
- pddl-tree-messages: Adding user access functions to domain expert client.
- pddl-tree-messages: Using ROS messages to define the PDDL construct trees.
- Update version
- Contributors: Alexander Xydes, Francisco Mart
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged plansys2_domain_expert at answers.ros.org
|
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 | 0.0.17 |
| 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 | 2020-08-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| 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
0.0.17 (2020-08-11)
0.0.16 (2020-08-11)
- Merge pull request #28 from mjcarroll/remove_boost_optional [eloquent] Remove boost::optional
- Remove boost::optional and fix build
- Contributors: 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 |