davidelusuardi / plansys2_upf_problem_expert

PlanSys2 Problem Expert ROS2 module using the Unified Planning Framework (UPF).

UPF Problem Expert

The UPF Problem Expert module is responsible for maintaining the instances, predicates and goals of the PDDL problem.

The main class is ProblemExpertNode. ProblemExpertNode 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 problem instance is ProblemExpert, which is independent of ROS2.

The UPF Problem Expert is dynamic and volatile, accessing its functionality through ROS2 services.

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. For every update, a plansys2_msgs::msg::Knowledge is published in /problem_expert/knowledge.

Services

• /problem_expert/add_problem [plansys2_msgs::srv::AddProblem]
• /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/add_problem_function [plansys2_msgs::srv::AffectNode]
• /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/get_problem_function [plansys2_msgs::srv::GetNodeDetails]
• /problem_expert/get_problem_functions [plansys2_msgs::srv::GetStates]
• /problem_expert/get_problem [plansys2_msgs::srv::GetProblem]
• /problem_expert/remove_problem_goal [plansys2_msgs::srv::RemoveProblemGoal]
• /problem_expert/clear_problem_knowledge [plansys2_msgs::srv::ClearProblemKnowledge]
• /problem_expert/remove_problem_instance [plansys2_msgs::srv::AffectParam]
• /problem_expert/remove_problem_predicate [plansys2_msgs::srv::AffectNode]
• /problem_expert/remove_problem_function [plansys2_msgs::srv::AffectNode]
• /problem_expert/exist_problem_predicate [plansys2_msgs::srv::ExistNode]
• /problem_expert/exist_problem_function [plansys2_msgs::srv::ExistNode]
• /problem_expert/update_problem_function [plansys2_msgs::srv::AffectNode]
• /problem_expert/is_problem_goal_satisfied [plansys2_msgs::srv::IsProblemGoalSatisfied]

Published topics

• /problem_expert/update_notify [std_msgs::msg::Empty]
• /problem_expert/knowledge [plansys2_msgs::msg::Knowledge]