Domain Expert

The Domain Expert module is responsible for maintaining the PDDL domain.

The main class is plansys2::DomainExpertNode, which is instantiated from DomainExpertNode.cpp. plansys2::DomainExpertNode is a rclcpp_lifecycle::LifecycleNode and in its configuration phase reads the model_file parameter, which contains the .pddl file from which to read the model.

The class responsible for maintaining this domain is plansys2::DomainExpert, which is independent of ROS2.

The Domain Expert does not change while active, accessing its functionality through ROS2 services. To facilitate the task of the application developer, an plansys2::DomainExpertClient class has been implemented that hides the complexity of handling ROS2 messages and services. Its API is similar to that of plansys2::DomainExpert, since both have to implement the plansys2::DomainExpertInterface interface.

Services:

• /domain_expert/get_domain [plansys2_msgs::srv::GetDomain]
• /domain_expert/get_domain_action_details [plansys2_msgs::srv::GetDomainActionDetails]
• /domain_expert/get_domain_actions [plansys2_msgs::srv::GetDomainActions]
• /domain_expert/get_domain_durative_action_details [plansys2_msgs::srv::GetDomainDurativeActionDetails]
• /domain_expert/get_domain_durative_actions [plansys2_msgs::srv::GetDomainActions]
• /domain_expert/get_domain_function_details [plansys2_msgs::srv::GetNodeDetails]
• /domain_expert/get_domain_functions [plansys2_msgs::srv::GetStates]
• /domain_expert/get_domain_predicate_details [plansys2_msgs::srv::GetNodeDetails]
• /domain_expert/get_domain_predicates [plansys2_msgs::srv::GetStates]
• /domain_expert/get_domain_types [plansys2_msgs::srv::GetDomainTypes]
• /domain_expert/get_domain_constants [plansys2_msgs::srv::GetDomainConstants]

Changelog for package plansys2_domain_expert

2.0.14 (2024-11-14)

2.0.13 (2024-11-06)

• Change to EventsExecutor
• Contributors: Francisco Martín Rico

2.0.12 (2024-10-16)

• include "object" in getType
• fix code style
• add params to getDerivedPredicate
• add tests for getDerivedPredicate(s)
• add getDerivedPredicate
• add getDerivedPredicates
• add DomainReader::get_derived_predicates
• Small optimization
• Fixed expected output
• Remove cmake warning
• Fixed dump of functions/constants/types to handle the case where no funcions/constants/types declared to avoid printing the entry, thus generating a valid PDDL file
• Remove commented-out line in domain expert node
• Switch to MultiThreadedExecutor
• Spin up temporary node for domain validation
• Add option to use planner node to validate domain in domain expert
• Reduce copypasta in domain expert
• Configure POPF solver in domain expert
• Merge remote-tracking branch 'upstream/master' into return-stn
• Merge remote-tracking branch 'origin/humble-devel'
• Reverting changes to checking for valid domain.
• Supporting time-triggered execution.
• Contributors: Francisco Martín Rico, Gustavo, Josh Zapf, Marco Roveri, Robodrome, Sebastian Castro, Splinter1984

2.0.9 (2022-07-10)

• Humble Upgrade
• Fix possible bug https://github.com/ros2/rclcpp/issues/1968
• Update popf checker interface
• Contributors: Francisco Martín Rico

2.0.8 (2022-05-04)

2.0.7 (2022-05-04)

2.0.6 (2022-05-03)

2.0.5 (2022-05-03)

• Fix ROS2 Buildfarm error due to Threads
• Contributors: Francisco Martín Rico

2.0.4 (2022-05-03)

• Fix version
• Fix ROS2 Buildfarm error due to Threads
• Contributors: Francisco Martín Rico

2.0.3 (2022-04-03)

2.0.2 (2022-04-03)

• Merge pull request #139 from MostafaGomaa/constants_params_handling
• [problem_expert] clearGoal on clearing knowledge
• [domain_expert] GetDomainConstants service and tests
• [domain_expert] test domain_reader constants
• [domain_expert] adapt tests, add constants to existing domain_processed
• [domain_expert] DomainReader, Extract "(:constants )" string from domain_str
• Contributors: Francisco Martín Rico, Jake Keller, Mostafa Gomaa

2.0.1 (2022-02-03)

• Update deprecated APIs in launchers and parameters
• get-domain-name: Adding unit test for GetDomainName service.
• get-domain-name: Added service for retrieving domain name. Concatenating domain names when using multiple domains.
• Update launcher param names
• Merge galactic-devel
• Contributors: Francisco Martín Rico, Josh Zapf

2.0.0 (2021-07-04)

• Compile for ROS2 Galactic
• Contributors: Francisco Martín Rico, Jonatan Olofsson

1.0.10 (2021-07-03)

• Remove node parameter in client constructors
• Adding unit tests for new functions in plansys2_domain_expert.
• Add ability to read in pddl problem files to plansys2 and a new AddProblem service to the plansys2_problem_expert. Adding problem_file node parameter to plansys2_problem_expert to load a single problem file at launch.
• Suggestion for #118
• pddl-tree-messages: Performing some minor cleanup.
• pddl-tree-messages: Using explicit specifier for single parameter constructors in plansys2_core/Types.hpp.
• pddl-tree-messages: Adding user access functions to domain expert client.
• pddl-tree-messages: Using ROS messages to define the PDDL construct trees.
• Update version
• Contributors: Alexander Xydes, Francisco Martín Rico, Josh Zapf

1.0.9 (2021-03-15)

1.0.8 (2021-03-12)

• Update API for FutureReturnCode
• Add support for numeric conditions and effects.
• New Graph creation Algorithm
• Added negative predicates support
• Ignore comments on block end search
• Add more verbose output to pddl errors
• PDDL transparent merge
• Contributors: Fabrice Larribe, Francisco Martin Rico, Josh Zapf

1.0.7 (2021-01-04)

• Making explicit dependencies

* Contributors: Francisco Martín Rico 1.0.6 (2020-12-29) ------------------

1.0.5 (2020-12-28)

• Migration to c++17
• Contributors: Francisco Martín Rico

1.0.4 (2020-12-24)

1.0.3 (2020-12-23)

1.0.2 (2020-12-23)

• Plan solvers as plugins
• Contributors: Fabrice Larribe, Francisco Martin Rico, f269858

1.0.0 (2020-07-19)

• Foxy initial version
• Boost:optional
• Support for BT actions
• Contributors: Francisco Martin Rico

0.0.8 (2020-07-18)

• Support for BT actions
• Contributors: Francisco Martin Rico

0.0.7 (2020-03-26)

• Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>

* Contributors: Francisco Martín Rico 0.0.6 (2020-03-23) ------------------* Run in separate namespaces. Monolothic node Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Add multi domain Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Avoid inserting duplicate types Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Avoid inserting duplicate types Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Contributors: Francisco Martin Rico

0.0.5 (2020-01-12)

0.0.4 (2020-01-09)

• Adding missing action dependencies Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>

* Contributors: Francisco Martín Rico 0.0.3 (2020-01-09) ------------------

0.0.2 (2020-01-08)

• Merge pull request #16 from IntelligentRoboticsLabs/pddl_parser_rename Rename pddl_parser
• Rename pddl_parser Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Merge pull request #8 from IntelligentRoboticsLabs/patrol_example Patrol example
• Patrol example Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Packages.xml description Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Adding documentation Signed-off-by: Francisco Martin Rico <<fmartin@gsyc.urjc.es>>
• Adding documentation Signed-off-by: Francisco Martin Rico <<fmartin@gsyc.urjc.es>>
• Adding documentation Signed-off-by: Francisco Martin Rico <<fmartin@gsyc.urjc.es>>
• Merge pull request #6 from IntelligentRoboticsLabs/documentation Documentation for Domain Expert
• Documentation for Domain Expert Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Change to lowercasegit Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• First version of planner complete Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Update notification in problem Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Problem expert complete with terminal support Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Problem expert client and node Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Goals in problem generation Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• ProblemExpert local complete Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Using shred_ptr. First commit Problem Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Domain types and messages changed Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Predicate Tree and types changed Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Planning terminal and domain clients Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• First version of domain expert Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Contributors: Francisco Martin Rico