dgerod / rosplan_pytools Goto Github PK

If knowledge interface is not initialized before calling Action, the code fails when trying to apply postconditions but not when checking parameters.

After checking the source code I realized that validate_parameters method of CheckActionAndProcessEffects create the services that connect to KB ROSPlan by itself while apply_effects is using the knowledge interface of rosplan_pytools. And this explain why checking parameters works without initializing knowledge interface.

This seems wrong as same approach to connect to ROSPlan KB should be used by CheckActionAndProcessEffects. Therefore, it should be analyzed why the used approach is different and fix if same approach could be used.

More information: #17

Hi im trying to use your action interface with the SimpleAction class.

I have overridden the start function according to your example, unfortunatly the function is never called and i get this warnings:

Do you see any obvious error here or do you have any hint to find the error?

By the way - thanks for your work, would make life way easier!

i've cloned the code from master branch and catkin_make successfully. The 'rosplan_pytools.init()' cannot execute correctly.

after running the scripts

import rosplan_pytools

if __name__=="__main__":
  rospy.init_node("name")
  rosplan_pytools.init()
  rospy.spin()

a attribute error occurs

'module' object has no attribute 'init'
File "/home/voidwu/ros_ws/src/rosplan_demos/rosplan_demos_interfaces/rosplan_interface_movebase/scripts/test.py", line 18, in
rosplan_pytools.init()

So, should I use the lastest dev branch to solve this?

Create a node that implement planner interface of ROSPlan, that's calls an external planner (e.g. FF). It should be able to select from a set of ready planner without modifying the code. Following automatic load of actions in action_interface.

This code should be added to src/ros/interfaces/planner_interface and a node that use it will be created inside non existing directory node

This class should allow a user to implement his own dispatcher.

• Examples are outdated, see #19
• Explain that OrderDict must be used with current ROSPlan in case of Python 2, see issue in ROSPlan.
• Postconditions, see #18

There are mentions of "In case you are using function-based approach you have to set postconditions (or effects) in your code" in the documentation, however, it's not clear how to implement it. Could you please explain further what it means to set postconditions/provide an example? Thank you.

At this moment all the modules are inside rosplan_interface but in future inside this package only interfaces that extend ROSPlan will be there.

That means from:

rosplan_interface
       utils
       action_interface
       plan_interface
       kb_interface

to:

rosplan
       common
              utils
       controller
              ps
              kb
       interfaces
              action_interface
              planner_interface

The ps and kb modules are current plan_interface and kb_interface, respectively. And new planner_interface will be used to change the planner used by ```rosplan_planning_system`` node.