|
Package Summary
Tags | No category tags. |
Version | 2.0.15 |
License | Apache License, Version 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/PlanSys2/ros2_planning_system.git |
VCS Type | git |
VCS Version | jazzy-devel |
Last Updated | 2024-12-12 |
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
] -
/domain_expert/get_domain_constants
[plansys2_msgs::srv::GetDomainConstants
]
Changelog for package plansys2_domain_expert
2.0.15 (2024-12-03)
2.0.14 (2024-11-14)
2.0.13 (2024-11-06)
- Change to EventsExecutor
- Contributors: Francisco Martín Rico
2.0.12 (2024-10-16)
- include "object" in getType
- fix code style
- add params to getDerivedPredicate
- add tests for getDerivedPredicate(s)
- add getDerivedPredicate
- add getDerivedPredicates
- add DomainReader::get_derived_predicates
- Small optimization
- Fixed expected output
- Remove cmake warning
- Fixed dump of functions/constants/types to handle the case where no funcions/constants/types declared to avoid printing the entry, thus generating a valid PDDL file
- Remove commented-out line in domain expert node
- Switch to MultiThreadedExecutor
- Spin up temporary node for domain validation
- Add option to use planner node to validate domain in domain expert
- Reduce copypasta in domain expert
- Configure POPF solver in domain expert
- Merge remote-tracking branch 'upstream/master' into return-stn
- Merge remote-tracking branch 'origin/humble-devel'
- Reverting changes to checking for valid domain.
- Supporting time-triggered execution.
- Contributors: Francisco Martín Rico, Gustavo, Josh Zapf, Marco Roveri, Robodrome, Sebastian Castro, Splinter1984
2.0.9 (2022-07-10)
- Humble Upgrade
- Fix possible bug https://github.com/ros2/rclcpp/issues/1968
- Update popf checker interface
- Contributors: Francisco Martín Rico
2.0.8 (2022-05-04)
2.0.7 (2022-05-04)
2.0.6 (2022-05-03)
2.0.5 (2022-05-03)
- Fix ROS2 Buildfarm error due to Threads
- Contributors: Francisco Martín Rico
2.0.4 (2022-05-03)
- Fix version
- Fix ROS2 Buildfarm error due to Threads
- Contributors: Francisco Martín Rico
2.0.3 (2022-04-03)
2.0.2 (2022-04-03)
- Merge pull request #139 from MostafaGomaa/constants_params_handling
- [problem_expert] clearGoal on clearing knowledge
- [domain_expert] GetDomainConstants service and tests
- [domain_expert] test domain_reader constants
- [domain_expert] adapt tests, add constants to existing domain_processed
- [domain_expert] DomainReader, Extract "(:constants )" string from domain_str
- Contributors: Francisco Martín Rico, Jake Keller, Mostafa Gomaa
2.0.1 (2022-02-03)
- Update deprecated APIs in launchers and parameters
- get-domain-name: Adding unit test for GetDomainName service.
- get-domain-name: Added service for retrieving domain name. Concatenating domain names when using multiple domains.
- Update launcher param names
- Merge galactic-devel
- Contributors: Francisco Martín Rico, Josh Zapf
2.0.0 (2021-07-04)
- Compile for ROS2 Galactic
- Contributors: Francisco Martín Rico, Jonatan Olofsson
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 Martín Rico, Josh Zapf
1.0.9 (2021-03-15)
1.0.8 (2021-03-12)
- Update API for FutureReturnCode
- Add support for numeric conditions and effects.
- New Graph creation Algorithm
- Added negative predicates support
- Ignore comments on block end search
- Add more verbose output to pddl errors
- PDDL transparent merge
- Contributors: Fabrice Larribe, Francisco Martin Rico, Josh Zapf
1.0.7 (2021-01-04)
- Making explicit dependencies
* Contributors: Francisco Martín Rico 1.0.6 (2020-12-29) ------------------
1.0.5 (2020-12-28)
- Migration to c++17
- Contributors: Francisco Martín Rico
1.0.4 (2020-12-24)
1.0.3 (2020-12-23)
1.0.2 (2020-12-23)
- Plan solvers as plugins
- Contributors: Fabrice Larribe, Francisco Martin Rico, f269858
1.0.0 (2020-07-19)
- Foxy initial version
- Boost:optional
- Support for BT actions
- Contributors: Francisco Martin Rico
0.0.8 (2020-07-18)
- Support for BT actions
- Contributors: Francisco Martin Rico
0.0.7 (2020-03-26)
- Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
* Contributors: Francisco Martín 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
0.0.5 (2020-01-12)
0.0.4 (2020-01-09)
- Adding missing action dependencies Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
* Contributors: Francisco Martín 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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged plansys2_domain_expert at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 2.0.11 |
License | Apache License, Version 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/PlanSys2/ros2_planning_system.git |
VCS Type | git |
VCS Version | iron-devel |
Last Updated | 2023-08-02 |
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
] -
/domain_expert/get_domain_constants
[plansys2_msgs::srv::GetDomainConstants
]
Changelog for package plansys2_domain_expert
2.0.11 (2023-08-02)
2.0.10 (2023-07-17)
- Merge remote-tracking branch 'origin/humble-devel'
- Merge remote-tracking branch 'origin/master' into fix_goal_structure_issue_205
- Merge remote-tracking branch 'upstream/master'
- Contributors: Francisco Martín Rico, Marco Roveri, Splinter1984
2.0.9 (2022-07-10)
- Humble Upgrade
- Fix possible bug https://github.com/ros2/rclcpp/issues/1968
- Update popf checker interface
- Contributors: Francisco Martín Rico
2.0.8 (2022-05-04)
2.0.7 (2022-05-04)
2.0.6 (2022-05-03)
2.0.5 (2022-05-03)
- Fix ROS2 Buildfarm error due to Threads
- Contributors: Francisco Martín Rico
2.0.4 (2022-05-03)
- Fix version
- Fix ROS2 Buildfarm error due to Threads
- Contributors: Francisco Martín Rico
2.0.3 (2022-04-03)
2.0.2 (2022-04-03)
- Merge pull request #139 from MostafaGomaa/constants_params_handling
- [problem_expert] clearGoal on clearing knowledge
- [domain_expert] GetDomainConstants service and tests
- [domain_expert] test domain_reader constants
- [domain_expert] adapt tests, add constants to existing domain_processed
- [domain_expert] DomainReader, Extract "(:constants )" string from domain_str
- Contributors: Francisco Martín Rico, Jake Keller, Mostafa Gomaa
2.0.1 (2022-02-03)
- Update deprecated APIs in launchers and parameters
- get-domain-name: Adding unit test for GetDomainName service.
- get-domain-name: Added service for retrieving domain name. Concatenating domain names when using multiple domains.
- Update launcher param names
- Merge galactic-devel
- Contributors: Francisco Martín Rico, Josh Zapf
2.0.0 (2021-07-04)
- Compile for ROS2 Galactic
- Contributors: Francisco Martín Rico, Jonatan Olofsson
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 Martín Rico, Josh Zapf
1.0.9 (2021-03-15)
1.0.8 (2021-03-12)
- Update API for FutureReturnCode
- Add support for numeric conditions and effects.
- New Graph creation Algorithm
- Added negative predicates support
- Ignore comments on block end search
- Add more verbose output to pddl errors
- PDDL transparent merge
- Contributors: Fabrice Larribe, Francisco Martin Rico, Josh Zapf
1.0.7 (2021-01-04)
- Making explicit dependencies
* Contributors: Francisco Martín Rico 1.0.6 (2020-12-29) ------------------
1.0.5 (2020-12-28)
- Migration to c++17
- Contributors: Francisco Martín Rico
1.0.4 (2020-12-24)
1.0.3 (2020-12-23)
1.0.2 (2020-12-23)
- Plan solvers as plugins
- Contributors: Fabrice Larribe, Francisco Martin Rico, f269858
1.0.0 (2020-07-19)
- Foxy initial version
- Boost:optional
- Support for BT actions
- Contributors: Francisco Martin Rico
0.0.8 (2020-07-18)
- Support for BT actions
- Contributors: Francisco Martin Rico
0.0.7 (2020-03-26)
- Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
* Contributors: Francisco Martín 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
0.0.5 (2020-01-12)
0.0.4 (2020-01-09)
- Adding missing action dependencies Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
* Contributors: Francisco Martín 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