-
 

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

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 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:

CHANGELOG

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)

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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

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 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:

CHANGELOG

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)

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged plansys2_domain_expert at Robotics Stack Exchange