Open waiyc opened 4 years ago
However, a proper plan can be generated if I run simulated_actions.bash
:
#!/bin/bash
rosservice call /rosplan_problem_interface/problem_generation_server;
rosservice call /rosplan_planner_interface/planning_server;
rosservice call /rosplan_parsing_interface/parse_plan;
rosservice call /rosplan_plan_dispatcher/dispatch_plan;
and this is the generated plan.pddl
:
Number of literals: 7
Constructing lookup tables:
Post filtering unreachable actions:
[01;34mNo analytic limits found, not considering limit effects of goal-only operators[00m
85% of the ground temporal actions in this problem are compression-safe
Initial heuristic = 4.000
b (3.000 | 130.002)b (2.000 | 160.003)
Resorting to best-first search
b (3.000 | 130.002)b (2.000 | 190.003)b (1.000 | 220.004);;;; Solution Found
; States evaluated: 23
; Cost: 220.004
; Time 0.00
0.000: (undock kenny wp0) [10.000]
10.001: (localise kenny) [60.000]
70.002: (goto_waypoint kenny wp0 wp1) [60.000]
130.003: (goto_waypoint kenny wp1 wp0) [60.000]
190.004: (dock kenny wp0) [30.000]
This is case, undock and localize simulated action interface can be completed.
However, since no actual way-points were generated the RPMoveBase.cpp
will encounter error
[ERROR] [1594916379.714855264, 46.270000000]: Waypoint not found in parameter server
Hello Waiyc,
I'm not sure what could be the error here - can you post some of the output log? It seems as though the turtlebot exploration script is somehow making the problem unsolvable. My guess would be that although the input problem is fine, after generating waypoints, the actual problem is unsolvable because (a) the "at robot" fact has been removed, or (b) not enough waypoints were generated to match the goal.
In any case, a quick solution would be to use simulated_actions.bash, and add a call to the waypoint generation from there - or load a fixed waypoints file if you prefer.
Michael
Hi, I am currently using turtlebot3 with gazebo to test the ROSplan behavior. I am trying to add 3 simulated actions [dock, undock and localize] on top of the implemented goto_waypoints action. So the ideal generated plans in
plan.pddl
should look like:However, I faced this error when I try to run
./turtlebot_explore.bash
:and the error message the generated in the
plan.pddl
:This is the content for
./turtlebot_explore.bash
:This is the content for
./turtlebot_explore_common.bash
:Besides, this is the input
problem.pddl
:and this is the
domain.pddl
: