DerekLong101
commented
5 years ago Hi
POPF does not handle negative preconditions (at start (not (stowed ?a))). Try using a paired predicate, unstowed:
(at start (unstowed ?a))
:effect (and (at end (stowed ?a)) (at start (not (unstowed ?a))))
etc. Note the idiom in which you delete the unstowed at start and only add the stowed at end - in the middle of the action, the arm is neither stowed or unstowed. This is actually a good thing - because it stops any plans in which the arm is exploited while in the middle of stowing or unstowing.
Cheers
Derek
From: Keerthana Subramanian Manivannan notifications@github.com Sent: 08 March 2019 19:37:08 To: KCL-Planning/ROSPlan Cc: Subscribed Subject: [KCL-Planning/ROSPlan] Help getting POPF planner to spit out a simple plan (#176)
Description
I have a simple domain and problem PDDL files, but I get Plan was unsolvable. output from the planner.
My environment
- ROS Distro: Kinetic
- OS Version: Ubuntu 16.04
- Source build
- Branch: master
- Git commit: e79d62ahttps://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FKCL-Planning%2FROSPlan%2Fcommit%2Fe79d62a624f68429c5e4955fd64068d61c17905c&data=01%7C01%7Cderek.long%40kcl.ac.uk%7Cb269d775e96c4c8fcf6208d6a3fd751e%7C8370cf1416f34c16b83c724071654356%7C0&sdata=UeWu9PkK0PhQjOfyCnqjPE6T1rVNh2G8fsBKyMhDN7w%3D&reserved=0
Steps to reproduce
I cloned ROSPlan and followed few of the tutorials. I added my own domain and problem PDDL files in rosplan_demos/common/aq/
Domain file
Problem file
My launch file:
Expected behaviour
I launch this launch file, and call these two services:
- rosservice call /rosplan_problem_interface/problem_generation_server
- rosservice call /rosplan_planner_interface/planning_server
I should get a plan.pddl with the action "Stow" or something.
Actual behaviour
Instead, I get this:
[ INFO] [1552073160.804842525]: KCL: (/rosplan_planner_interface) (problem.pddl) Planning complete [ INFO] [1552073160.804941163]: KCL: (/rosplan_planner_interface) (problem.pddl) Plan was unsolvable.
Backtrace or Console output
[ INFO] [1552073067.156950095]: KCL: (/rosplan_problem_interface) Ready to receive [ INFO] [1552073067.208967971]: KCL: (/rosplan_knowledge_base) Parsing domain [ INFO] [1552073067.209099173]: KCL: (/rosplan_knowledge_base) Parsing domain: /home/kmanivannan/a_ws/install/share/rosplan_demos/common/aq/domain.pddl. [ INFO] [1552073067.209486743]: KCL: (/rosplan_knowledge_base) Parsing initial state [ INFO] [1552073067.209554154]: KCL: (/rosplan_knowledge_base) Parsing Problem File: /home/kmanivannan/a_ws/install/share/rosplan_demos/common/aq/problem.pddl. [ INFO] [1552073067.209735903]: KCL: (/rosplan_knowledge_base) Waiting for MongoDB [ INFO] [1552073067.211048186]: waitForService: Service [/message_store/delete] has not been advertised, waiting... [ INFO] [1552073067.230798705]: KCL: (/rosplan_planner_interface) Ready to receive [ INFO] [1552073068.066033253]: waitForService: Service [/message_store/delete] is now available. MongoDB shell version: 2.6.10 connecting to: message_store 2019-03-08T13:24:28.123-0600 remove needs a query at src/mongo/shell/collection.js:299 [ INFO] [1552073068.125870943]: KCL: (/rosplan_knowledge_base) Ready to receive [ INFO] [1552073072.126034682]: KCL: (/rosplan_problem_interface) (problem.pddl) Generating problem file. [ INFO] [1552073072.141167715]: KCL: (/rosplan_problem_interface) (problem.pddl) The problem was generated. [ INFO] [1552073072.141485859]: KCL: (/rosplan_planner_interface) Problem received. [ INFO] [1552073160.799022064]: KCL: (/rosplan_planner_interface) (problem.pddl) Writing problem to file. [ INFO] [1552073160.799326552]: KCL: (/rosplan_planner_interface) (problem.pddl) Running: timeout 10 /home/kmanivannan/a_ws/install/share/rosplan_planning_system/common/bin/popf /home/kmanivannan/a_ws/install/share/rosplan_demos/common/aq/domain.pddl /home/kmanivannan/a_ws/install/share/rosplan_demos/common/aq/problem.pddl > /home/kmanivannan/a_ws/install/share/rosplan_demos/common/aq/plan.pddl [ INFO] [1552073160.804842525]: KCL: (/rosplan_planner_interface) (problem.pddl) Planning complete [ INFO] [1552073160.804941163]: KCL: (/rosplan_planner_interface) (problem.pddl) Plan was unsolvable.```
Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.
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keerthanamanivannan
and the 
Description
I have a simple domain and problem PDDL files, but I get
Plan was unsolvable.output from the planner.My environment
(
kineticbranch is far behindmaster.)Steps to reproduce
I cloned ROSPlan and followed few of the tutorials. I added my own domain and problem PDDL files in
rosplan_demos/common/aq/Domain file
Problem file
My launch file: <?xml version="1.0"?>
Expected behaviour
I launch this launch file, and call these two services:
rosservice call /rosplan_problem_interface/problem_generation_serverrosservice call /rosplan_planner_interface/planning_serverI should get a plan.pddl with the action "Stow" or something.
Actual behaviour
Instead, I get this:
The generated
plan.pddlinside install space contains this:Backtrace or Console output