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Add rosplan_planner_interfaces with ffha_planning_interface example launch file #33

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Add rosplan_planner_interfaces with ffha_planning_interface example launch file #33

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3 changes: 3 additions & 0 deletions rosplan_planner_interfaces/CMakeLists.txt
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Original file line number Diff line number Diff line change
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cmake_minimum_required(VERSION 2.8.3)
project(rosplan_planner_interfaces)
find_package(catkin REQUIRED)
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no new line at end of file

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Please additionally rename the name of the ROS pkg from rosplan_planner_interfaces -> rosplan_planner_interfaces_demo

39 changes: 39 additions & 0 deletions rosplan_planner_interfaces/launch/ffha_planner_interface.launch
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<?xml version="1.0"?>
<launch>

<!-- arguments -->
<arg name="node_name" default="rosplan_planner_interface" />
<arg name="use_problem_topic" default="true" />
<arg name="problem_topic" default="/rosplan_problem_interface/problem_instance" />
<arg name="planner_topic" default="planner_output" />
<arg name="domain_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/domain.pddl" />
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@oscar-lima oscar-lima Mar 12, 2020 •
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this domain has durative actions, which are not supported neither by ff nor ffha. I suggest to change it e.g. for ROSPlan/rosplan_planning_system/test/pddl/amazon

<arg name="problem_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/problem.pddl" />
<arg name="data_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/" />
<arg name="planner_command" default="timeout 10 $(find rosplan_planning_system)/common/bin/popf DOMAIN PROBLEM" />
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popf? planner command should be something like rosrun ffha ffha foo bar ... etc

<arg name="planner_interface" default="ff_planner_interface" />
<arg name="use_ffha" default="true" />
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please indent to match previous args


<!-- planner interface -->
<node name="$(arg node_name)" pkg="rosplan_planning_system" type="$(arg planner_interface)" respawn="false" output="screen">

<!-- general options -->
<param name="use_problem_topic" value="$(arg use_problem_topic)" />

<!-- ros topics -->
<param name="problem_topic" value="$(arg problem_topic)" />
<param name="planner_topic" value="$(arg planner_topic)" />

<!-- directory for files -->
<param name="domain_path" value="$(arg domain_path)" />
<param name="problem_path" value="$(arg problem_path)" />
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please change from problem_path -> autom_gen_problem_path (consistency w/ ROSPlan launch files reasons...)

<param name="data_path" value="$(arg data_path)" />

<!-- to run the planner -->
<param name="planner_command" value="$(arg planner_command)" />

<!-- use this param to use either ff_planner_interface with ff planner ("use_ffha" = "false" or ffha planner ("use_ffha" = "true" -->
<param name="use_ffha" value="$(arg use_ffha)" />
Comment on lines +34 to +35
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please indent to match previous params


</node>

</launch>
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no new line at end of file

17 changes: 17 additions & 0 deletions rosplan_planner_interfaces/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>rosplan_planner_interfaces</name>
<version>1.0.0</version>
<description>rosplan_planner_interfaces repository with example launch files to use planner_interfaces</description>
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rosplan_planner_interfaces is not a repository, the repo is rosplan_demos, it is a ROS pkg ; )


<maintainer email="[email protected]">Tom Creutz</maintainer>

<license>BSD</license>

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remove extra line


<buildtool_depend>catkin</buildtool_depend>

<export>

</export>
Comment on lines +14 to +16
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if export is empty, then remove

</package>