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PlanSys2 / ros2_planning_system

This repo contains a PDDL-based planning system for ROS2.
Apache License 2.0
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PDDL Parsing: decrease does not name a known token #202

Open avekarpp opened 2 years ago

avekarpp commented 2 years ago

Hello everyone, I am fairly new to Plansys2 and was working with the default planner POPF for planning. While planning the domain with PDDL fluents, the PDDL parser and/or (not sure!) domain expert node results in an error for PDDL fluents' decrease effect

[ERROR] PDDL Parsing: decrease does not name a known token.

The POPF planner is producing a expected plan for the same domain file without any error using command

ros2 run popf popf <path/to/domain.pddl> <path/to/problem.pddl>.

I just introduced a numaric fluent to monitor and modify battery level in the ros2_planning_system _example/plansys2_simple_example domain file.

Any help or suggestions are welcome regarding this issue. Thank you in advance!

fmrico commented 2 years ago

Hi @avekarpp

Not all the pddl features are supported, even being supported by POPF 😞

We could maintain this issue open for waiting for someone to work on this.

Best

avekarpp commented 2 years ago

Hello @fmrico, Thank you very much for your support!

roveri-marco commented 2 years ago

@avekarpp The problem is that you are mixing PDDL constructs with PDDL+ constructs (indeed, you cannot use the (decrease (numric_fluent) (* #t 0.5)) which is a feature as far I can understand of PDDL+.