Add rosplan_planner_interfaces with ffha_planning_interface example launch file - #33
Add rosplan_planner_interfaces with ffha_planning_interface example launch file#33tomcreutz wants to merge 1 commit into
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…ample launch file
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| cmake_minimum_required(VERSION 2.8.3) | |||
| project(rosplan_planner_interfaces) | |||
| find_package(catkin REQUIRED) No newline at end of file | |||
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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
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| </node> | ||
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| </launch> No newline at end of file |
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no new line at end of file
| <maintainer email="tom.creutz@dfki.de">Tom Creutz</maintainer> | ||
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| <license>BSD</license> | ||
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| <export> | ||
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| </export> |
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if export is empty, then remove
| <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 ; )
| <!-- 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="$(arg use_ffha)" /> |
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please indent to match previous params
| <arg name="data_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/" /> | ||
| <arg name="planner_command" default="timeout 10 $(find rosplan_planning_system)/common/bin/popf DOMAIN PROBLEM" /> | ||
| <arg name="planner_interface" default="ff_planner_interface" /> | ||
| <arg name="use_ffha" default="true" /> |
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please indent to match previous args
| <arg name="use_problem_topic" default="true" /> | ||
| <arg name="problem_topic" default="/rosplan_problem_interface/problem_instance" /> | ||
| <arg name="planner_topic" default="planner_output" /> | ||
| <arg name="domain_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/domain.pddl" /> |
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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
oscar-lima
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oscar-lima
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Please apply the feedback left in comments, thanks!
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| <!-- 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...)
| <arg name="domain_path" default="$(find rosplan_planning_system)/test/pddl/turtlebot/domain.pddl" /> | ||
| <arg name="problem_path" default="$(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
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Added a demo package for planning interfaces. It contains an example launch file to use the ff_planner_interface with ffha planner. To test the changes please have a look on the changes at KCL-Planning/ROSPlan#234