plansys2_problem_expert

This package contains the Problem Expert module for the ROS2 Planning System

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README

Problem Expert

The Problem Expert module is responsible for maintaining the instances, predicates and goals of the PDDL problem.

The main class is plansys2::ProblemExpertNode, which is instantiated from ProblemExpertNode.cpp. plansys2::ProblemExpertNode is a rclcpp_lifecycle::LifecycleNode, but currently the functionality is in the active phase.

The class responsible for maintaining this problem instance is plansys2::ProblemExpert, which is independent of ROS2.

The Problem Expert is dynamic and volatile, accessing its functionality through ROS2 services. To facilitate the task of the application developer, an plansys2::ProblemExpertClient class has been implemented that hides the complexity of handling ROS2 messages and services. Its API is similar to that of plansys2::ProblemExpert, since both have to implement the plansys2::ProblemExpertInterface interface.

The Problem Expert instantiates a plansys2::DomainExpertClient, and every update query is verified against domain to check if it is valid.

Every update in the Problem, is notified publishing a std_msgs::msg::Empty in /problem_expert/update_notify. It helps other modules and applications to be aware of updates, being not necessary to do polling to check it.

Services

• /problem_expert/add_problem_function [plansys2_msgs::srv::AffectNode]

• /problem_expert/add_problem_goal [plansys2_msgs::srv::AddProblemGoal]

• /problem_expert/add_problem_instance [plansys2_msgs::srv::AffectParam]

• /problem_expert/add_problem_predicate [plansys2_msgs::srv::AffectNode]

• /problem_expert/clear_problem_knowledge [plansys2_msgs::srv::ClearProblemKnowledge]

• /problem_expert/exist_problem_function [plansys2_msgs::srv::ExistNode]

• /problem_expert/exist_problem_predicate [plansys2_msgs::srv::ExistNode]

• /problem_expert/get_problem [plansys2_msgs::srv::GetProblem]

• /problem_expert/get_problem_function [plansys2_msgs::srv::GetNodeDetails]

• /problem_expert/get_problem_functions [plansys2_msgs::srv::GetStates]

• /problem_expert/get_problem_goal [plansys2_msgs::srv::GetProblemGoal]

• /problem_expert/get_problem_instance [plansys2_msgs::srv::GetProblemInstanceDetails]

• /problem_expert/get_problem_instances [plansys2_msgs::srv::GetProblemInstances]

• /problem_expert/get_problem_predicate [plansys2_msgs::srv::GetNodeDetails]

• /problem_expert/get_problem_predicates [plansys2_msgs::srv::GetStates]

• /problem_expert/is_problem_goal_satisfied [plansys2_msgs::srv::IsProblemGoalSatisfied]

• /problem_expert/remove_problem_function [plansys2_msgs::srv::AffectNode]

• /problem_expert/remove_problem_goal [plansys2_msgs::srv::RemoveProblemGoal]

• /problem_expert/remove_problem_instance [plansys2_msgs::srv::AffectParam]

• /problem_expert/remove_problem_predicate [plansys2_msgs::srv::AffectNode]

• /problem_expert/update_problem_function [plansys2_msgs::srv::AffectNode]

Published topics

• /problem_expert/update_notify [std_msgs::msg::Empty]