Usage

This document assumes you have the ROS2 CLIPS-Executive installed and sourced in your environment.

Starting the PDDL Manager

Aside from the regular ROS2 CLIPS-Executive node, the PDDL extension additionally requires the PDDL Manager node (a lifecycle node with a bond timer).

To just launch a standalone node, just run the following command:

ros2 run cx_pddl_manager pddl_manager

A more practical way to to start the node is to utilize the launch file of the cx_pddl_bringup, which wraps the ROS2 CLIPS-Executive launch file and additionally starts the PDDL Manager alongside of it:

ros2 launch cx_pddl_bringup cx_pddl_launch.py

Hint

Use the –show-args option to learn about all parameters that the launch file provides.

Example

The following example showcases simple interactions between CLIPS and PDDL by running an example agent:

ros2 launch cx_pddl_bringup cx_pddl_launch.py manager_config:=pddl_agents/structured_agent.yaml

Check out the Intefacing Guide page to learn how to write your own CLIPS applications while leveraging PDDL.