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KCL-Planning / ROSPlan

The ROSPlan framework provides a generic method for task planning in a ROS system.
http://kcl-planning.github.io/ROSPlan
BSD 2-Clause "Simplified" License
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ROSPlan demo (turtlebot_explore.bash): Problem file only partially generated #111

Open KyleBooth opened 6 years ago

KyleBooth commented 6 years ago

Hi there,

Trying to run the demo (turtlebot_explore.bash) as per the installation guide and ~75% of the time ROSPlan fails to completely generate the problem.pddl file. It usually halts somewhere inside PDDLProblemGenerator::makeHeader() or PDDLProblemGenerator::makeInitialState(), during what looks to be either making domain_name_service or domain_predicate_service calls.

The problem.pddl file usually ends up partially constructed, like so (though sometimes doesn't even include the objects):

(define (problem task) 
(:domain turtlebot_demo)
(:objects
    wp0 wp1 wp2 wp3 wp4 wp5 - waypoint
    kenny - robot
)
(:init

Terminal outputs (this is where it hangs):

problem_generation_ss

Any ideas for what's going on here? Much appreciated!

Kyle

oscar-lima commented 5 years ago

NOTE: rosplan_demos are now moved to: https://github.com/KCL-Planning/rosplan_demos