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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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Noetic devel #268

Open oscar-lima opened 4 years ago

oscar-lima commented 4 years ago

changes for ROSPlan to run in noetic

harshkakashaniya commented 3 years ago

Great Work Oscar. For making ROSplan work for noetic. Is something missing because the build is breaking?

oscar-lima commented 3 years ago

Great Work Oscar. For making ROSplan work for noetic. Is something missing because the build is breaking?

The problem is: cc1plus: error: -Werror=deprecated-copy: no option -Wdeprecated-copy I introduced a workaround which works on my PC, however it does not seem to work on the integration server, you can try on your PC, maybe you are lucky

harshkakashaniya commented 3 years ago

You are right !!! There are some warnings while it is been build. But it is working fine on my PC. Thank you ...

harshkakashaniya commented 3 years ago

Dear oscar, I had a question for you. can we add negative conditions in our problem file ?

Planner is not able to plan if I have a negative condition in problem file. for example: (not (docked kenney))

does not work ..

any solutions.

DerekLong101 commented 3 years ago

Hi

It never makes sense to put negative facts in a problem file - PDDL uses the closed world assumption and, therefore, absence of a fact is the way you say the fact is false. Some planners, but not all, handle negative preconditions in the actions. POPF/OPTIC do not. There are solutions to this - the standard one is to "mirror" conditions. That is, when you want the condition (not (P)) as a precondition, you create the condition (notP) and add that as precondition. You now ensure that every action that adds P deletes notP and every action that deletes P adds notP. Another option is to try to find a planner that works with negative preconditions.

Cheers

Derek

From: Harsh Kakashaniya notifications@github.com Sent: 14 January 2021 23:50 To: KCL-Planning/ROSPlan ROSPlan@noreply.github.com Cc: Subscribed subscribed@noreply.github.com Subject: Re: [KCL-Planning/ROSPlan] Noetic devel (#268)

Dear oscar, I had a question for you. can we add negative conditions in our problem file ?

Planner is not able to plan if I have a negative condition in problem file. for example: (not (docked kenney))

does not work ..

any solutions.

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harshkakashaniya commented 3 years ago

Dear Derek, Thank you very much for your detailed answer and export preaching. now I understood the thinking behind this. Everything makes much more sense now.

Regards, Harsh

harshkakashaniya commented 3 years ago

I am having issues with the sensing interface:

File "/home/hbk_il/Desktop/Integrated_ws/src/integratedcore/ROSPlan/rosplan_sensing_interface/scripts/sensing_interface.py", line 285 def subs_callback(self, msg, (pred_name, pred_info)): ^ SyntaxError: invalid syntax [rosplan_sensing_interface-7] process has died [pid 137784, exit code 1, cmd /home/hbk_il/Desktop/Integrated_ws/src/integratedcore/ROSPlan/rosplan_sensing_interface/scripts/sensing_interface.py name:=rosplan_sensing_interface log:=/home/hbk_il/.ros/log/a6dfdcea-6122-11eb-b76b-13b46bf4b6f3/rosplan_sensing_interface-7.log]. log file: /home/hbk_il/.ros/log/a6dfdcea-6122-11eb-b76b-13b46bf4b6f3/rosplan_sensing_interface-7*.log

gerardcanal commented 3 years ago

Hi @harshkakashaniya, I just opened a PR #277 to address the issue with the sensing interface. This will fix the issue you're experiencing, and it's due to Noetic using Python 3.

YanielCarreno commented 2 years ago

Great Work Oscar. For making ROSplan work for noetic. Is something missing because the build is breaking?

The problem is: cc1plus: error: -Werror=deprecated-copy: no option -Wdeprecated-copy I introduced a workaround which works on my PC, however it does not seem to work on the integration server, you can try on your PC, maybe you are lucky

Hi @oscar-lima ,

Thanks for the noetic extension. I also faced problems building ROSPlan for noetic. I fixed it by adding -Wno-error in [1] in the rosplan_dependencies CMakeList.

[1] SET (RDDL_CMAKE_CXX_FLAGS "${RDDL_CMAKE_CXX_FLAGS} -g -Wall -W -Wno-sign-compare -Wno-deprecated -ansi -pedantic -Werror -std=c++11 -O3 -DNDEBUG -fomit-frame-pointer -Wno-error=deprecated-copy")

ViniciusAbrao commented 1 year ago

Great Work Oscar. For making ROSplan work for noetic. Is something missing because the build is breaking?

The problem is: cc1plus: error: -Werror=deprecated-copy: no option -Wdeprecated-copy I introduced a workaround which works on my PC, however it does not seem to work on the integration server, you can try on your PC, maybe you are lucky

Hi @oscar-lima ,

Thanks for the noetic extension. I also faced problems building ROSPlan for noetic. I fixed it by adding -Wno-error in [1] in the rosplan_dependencies CMakeList.

[1] SET (RDDL_CMAKE_CXX_FLAGS "${RDDL_CMAKE_CXX_FLAGS} -g -Wall -W -Wno-sign-compare -Wno-deprecated -ansi -pedantic -Werror -std=c++11 -O3 -DNDEBUG -fomit-frame-pointer -Wno-error=deprecated-copy")

Tks for this !!