The UPF Domain Expert module is responsible for maintaining the PDDL domain.
The main class is DomainExpertNode
. DomainExpertNode
simulates 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 DomainExpert
, which is independent of ROS2.
The UPF Domain Expert does not change while active, accessing its functionality through ROS2 services.
/domain_expert/get_domain
[plansys2_msgs::srv::GetDomain
]/domain_expert/get_domain_name
[plansys2_msgs::srv::GetDomainName
]/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
]