WIP: Remove harcoded path in TFDPlannerInterface

[oscar-lima]

This change is needed due to the removal of rosplan_demos and a workaround that the original author had set in the file.

[m312z]

Looks sensible - just going to test on my machine.

[m312z]

The planner interface is not working very well for me - using a straightforward planner command:
"planners/tfd-src-0.4/downward/plan DOMAIN PROBLEM solution.pddl"
I get a few errors instead of a plan:
"./plan.py: No such file or directory"
The main reason being that the working directory of the planner interface is different from the TFD folder. In order to make this planner straightforward to use I would have to add something to the planner command.

Is there a way that the planner interface can be updated to automatically recognise the path of TFD and to handle this for the user?

[oscar-lima]

Hello, I will take a look into it. What I did as a workaround was to modify tfd plan.py to remove the relative paths, here is how it looks like:

#! /usr/bin/env python
import subprocess
import sys
import shutil

# to resolve the path to translate.py, preprocess and search
import rospkg
import os

def main():
    def run(*args, **kwargs):
        input = kwargs.pop('input', None)
        output = kwargs.pop('output', None)
        assert not kwargs
        redirections = {}
        if input:
            redirections['stdin'] = open(input)
        if output:
            redirections['stdout'] = open(output, 'w')
        print args, redirections
        subprocess.check_call(sum([arg.split('+') for arg in args],[]), **redirections)

    config, domain, problem, result_name = sys.argv[1:]

    # get an instance of RosPack with the default search paths
    rospack = rospkg.RosPack()

    # get the path to tfd_example ros pkg
    base_path = rospack.get_path('tfd_example') + '/common/tfd-src-0.4/downward/'

    # run translator
    run(base_path + 'translate/translate.py', domain, problem)

    # run preprocessing
    sas_path = os.environ['HOME'] + '/.ros/output.sas'
    run(base_path + 'preprocess/preprocess', input=sas_path)

    # run search
    search_path = os.environ['HOME'] + '/.ros/output'
    run(base_path + 'search/search', config, 'p', result_name, input=search_path)

if __name__ == '__main__':
    main()

This solution was shared in google groups, I will take a look and see if this can be done in a nicer way and without modifying the original script.

[oscar-lima]

I made some changes and need some intermediate feedback, this is to check if I am going in the right direction. If so, I can adapt the other planner interfaces to this strategy. With this changes the tfd planner command would look like this:

<arg name="planner_command" default="timeout 10 $(arg planner_path)/plan DOMAIN PROBLEM plan.pddl" />