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KTH-SML / ltl_automaton_core

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One-dimensional state not recognized by planner node #16

Closed RBinsonB closed 3 years ago

RBinsonB commented 3 years ago

Commit d052b6ea5cfd50f8c252fa867ee36198969efe12 reformatted the TS state format to work with more than 2 dimensions. Even with one dimension in the TS, the TS state is now a tuple.

This seems to create an issue with one dimensional TS states, as they are not recognized as being part of the plan when received by the planner from the agent node.

RBinsonB commented 3 years ago

TS states received by the planner node are on the format r2 while planner node inner TS states are on the format ('r2',) NB: ('r2',) is considered to have 2 dimensions (not one) and therefor would be refuse by the length check of the planner node when received. It's because it is treated as a list with ('r2 and ) by the ROS publisher.

Solution would seem to be on the TS generation side.

RBinsonB commented 3 years ago

Fixed by 96c15cf9e34808f01d17dce7d31d89e75fe400b8