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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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KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, turn_left #264

Closed rakhmanu closed 3 years ago

rakhmanu commented 3 years ago

Hi,

I wrote PDDL for the navigation and by using FF planner it was solved. After parsing, the planner output produces the following errors: [ERROR] [1604296110.545727969, 172.890000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, turn_left [ERROR] [1604296110.546277400, 172.890000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.546890748, 172.891000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.547383708, 172.891000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.547920246, 172.892000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, turn_right [ERROR] [1604296110.548421968, 172.892000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.548946863, 172.893000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.549455599, 172.893000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, turn_left [ERROR] [1604296110.550065310, 172.894000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, move_forward [ERROR] [1604296110.550583426, 172.895000000]: KCL: (/rosplan_parsing_interface) could not call Knowledge Base for operator details, turn_right

Why the actions cannot be found in Knowledge Base for the parsing process?

Thank you Sincerely, Ulzhalgas Rakhman

gerardcanal commented 3 years ago

Hi Ulzhalgas, This seems to be the parsing interface not being able to call the operator details service from the knowledge base. A reason could be that the knowledge base has died and can not respond.

Can you make sure the knowledge base is alive (i.e. with rosnode info) and if it is try to call the operator_details service of the knowledge base with the different operators when this error happens and see what does the terminal shows?

rakhmanu commented 3 years ago

@gerardcanal , thank you for the reply

troubleshooting

In all operators the same error ... And when i type this, "rosservice call / rosplan_knowledge_base/domain/ operators", it says unable to communicate with service...

gerardcanal commented 3 years ago

Hello, Sorry I was not clear. To check if the Knowledge Base is alive, you can run:

rosnode info /rosplan_knowledge_base

To check if the operator is there, you can run: rosservice call /rosplan_knowledge_base/domain/operator_details "name: 'move_forward'"

And if this answers something like ERROR: service [/rosplan_knowledge_base/domain/operator_details] responded with an error: please call the following: rosservice call /rosplan_knowledge_base/domain/operators "{}"

And make sure the move_forward operator appears in the list of operators. If it does not appear, it means that the domain has not loaded the operator.

rakhmanu commented 3 years ago

Hi @gerardcanal ,

Thank you for the quick reply As you suggested i checked if the Knowledge Base alive and it gives me the error: Communication with node failed. All operator checking by rosservice call /rosplan_knowledge_base/domain/operator gives error. And i could not find a knowledge base, when i run rqt But added initial state and goals to knowledge base and loaded domain, problem files to KB However, still cannot call a rosplan_knowledge_base Is there something else that i did not follow?

gerardcanal commented 3 years ago

Hello, It seems then that the knowledge base is having an error and failing. Can you try to find the error message saying something like [rosplan_knowledge_base-2] process has died and check what's the output before that?

It may be that there's something in the domain that is not correctly parsed by the knowledge base, and sometimes this generates a segfault.

rakhmanu commented 3 years ago

Hi @gerardcanal , Yes, i can find the error which says [rosplan_knowledge_base-16] process has died [pid 28950, exit code -11]. The output before that is: [ INFO ] [1604539017.846207474]: Physics dynamic reconfigure ready. Before this output i have one more error ( [ERROR] [1604539017.822064290, 8296.493000000]: KCL: (RPActionInterface) could not call Knowledge Base for operator details, move_forward ) which appeared before calling the services. As you said, i will parse each predicate one by one to check is that the domain parsed correctly.

Thank you

rakhmanu commented 3 years ago

I solved the issue. RPSimulatedActionInterface was used, so it was changed to RPActionInterface