Configuration

The ROS2 CLIPS-Executive node configuration is depending on the environments and plugins it manages.

Example

clips_manager:
  ros__parameters:
    environments: ["main"]
    autostart_node: false
    bond_heartbeat_period: 0.0
    main:
      plugins: ["executive","files"]
      log_clips_to_file: true
      watch: ["rules", "facts"]
    # plugin parameters
    # ...

Node Parameters

autostart_node:

Type	Default
bool	false

Description: If set to true, automatically activate the lifecycle node on startup.

bond_heartbeat_period:

Type	Default
float	0.0

Description: Heartbeat rate when used to bond with other nodes. A period of 0.0 disables bond usage.

environments:

Type	Default
string vector	[]

Description: Each entry should be a unique name for an environment. Each environment is then further configured.

Environment Parameters

Given an environment env, these are the configuration options:

env.log_clips_to_file:

Type	Default
bool	true

Description: If set to true, each environment creates a log file <env-name>_<timestamp>.log in the ROS log directory containing all CLIPS output.

env.watch:

Type	Default
string vector	[]

Description: Watch items to define verbosity of the environment. Possible values: [“all”, “facts”, “instances”, “slots”, “rules”, “activations”, “messages”, “message_handlers”, “generic_functions”, “methods”, “deffunctions”, “compilations”, “statistics”, “globals”, “focus”]

env.plugins:

Type	Default
string vector	[]

Description: List of unique plugin names. Each plugin is further specified with parameters depending on its type.

env.redirect_stdout_to_debug:

Type	Default
bool	false

Description: If set to true, all CLIPS output that logs to the clips::STDOUT="stdout" router is logged in ROS via RCLCPP_DEBUG instead of RCLCPP_INFO. This is useful when the (often rather verbose) default CLIPS output should be captured in the log file but should not spam the main terminal. CLIPS programs that use other routers (such as info or t) to print output still appear using RCLCPP_INFO.

Plugin Parameters

Given a plugin p (as specified in an environments plugin list), each needs to specify the type of the plugin:

p.plugin:

Type	Default
string	“”

Description: The specifier of the pluginlib plugin.

Each plugin may also have additional configuration options, which are documented in the CLIPS Plugins section.