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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 Problem Expert module for the ROS2 Planning System
Additional Links
No additional links.
Maintainers
- Francisco Martin Rico
Authors
No additional authors.
Problem Expert
The Problem Expert module is responsible for maintaining the instances, predicates and goals of the PDDL problem.
The main class is plansys2::ProblemExpertNode, which is instantiated from ProblemExpertNode.cpp. plansys2::ProblemExpertNode is a rclcpp_lifecycle::LifecycleNode, but currently the functionality is in the active phase.
The class responsible for maintaining this problem instance 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_function[plansys2_msgs::srv::AffectNode] -
/problem_expert/add_problem_goal[plansys2_msgs::srv::AddProblemGoal] -
/problem_expert/add_problem_instance[plansys2_msgs::srv::AffectParam] -
/problem_expert/add_problem_predicate[plansys2_msgs::srv::AffectNode] -
/problem_expert/clear_problem_knowledge[plansys2_msgs::srv::ClearProblemKnowledge] -
/problem_expert/exist_problem_function[plansys2_msgs::srv::ExistNode] -
/problem_expert/exist_problem_predicate[plansys2_msgs::srv::ExistNode] -
/problem_expert/get_problem[plansys2_msgs::srv::GetProblem] -
/problem_expert/get_problem_function[plansys2_msgs::srv::GetNodeDetails] -
/problem_expert/get_problem_functions[plansys2_msgs::srv::GetStates] -
/problem_expert/get_problem_goal[plansys2_msgs::srv::GetProblemGoal] -
/problem_expert/get_problem_instance[plansys2_msgs::srv::GetProblemInstanceDetails] -
/problem_expert/get_problem_instances[plansys2_msgs::srv::GetProblemInstances] -
/problem_expert/get_problem_predicate[plansys2_msgs::srv::GetNodeDetails] -
/problem_expert/get_problem_predicates[plansys2_msgs::srv::GetStates] -
/problem_expert/is_problem_goal_satisfied[plansys2_msgs::srv::IsProblemGoalSatisfied] -
/problem_expert/remove_problem_function[plansys2_msgs::srv::AffectNode] -
/problem_expert/remove_problem_goal[plansys2_msgs::srv::RemoveProblemGoal] -
/problem_expert/remove_problem_instance[plansys2_msgs::srv::AffectParam] -
/problem_expert/remove_problem_predicate[plansys2_msgs::srv::AffectNode] -
/problem_expert/update_problem_function[plansys2_msgs::srv::AffectNode]
Published topics
-
/problem_expert/update_notify[std_msgs::msg::Empty]
CHANGELOG
Changelog for package plansys2_problem_expert
2.0.11 (2023-08-02)
2.0.10 (2023-07-17)
- Merge remote-tracking branch \'origin/humble-devel\'
- Merge pull request #238 from roveri-marco/fix_goal_structure_issue_205 Fix goal structure issue 205
- Merge remote-tracking branch \'origin/master\' into fix_goal_structure_issue_205
- Minor changes to the tests to comply with some change in the generated output
- Fixed some errors and some tests to comply with the revised output
- Merge branch \'master\' into bt-builder-plugins
- Merge pull request #242 from PlanSys2/duplicate_instances Duplicate instances
- Fix typo
- Check instance types and associated tests
- Merge pull request #235 from MostafaGomaa/problem_expert/Fix_InvalidInstance [problem_expert] AddInstance successeeds if instance already exists
- Merge remote-tracking branch \'origin/master\' into fix_goal_structure_issue_205
- Fixed support for the complex goal parsing both from the terminal and from file
- [problem_expert] AddInstance successeeds if instance already exists
- Merge remote-tracking branch \'upstream/master\'
- Contributors: Francisco Mart
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
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Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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