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WIP: Remove harcoded path in TFDPlannerInterface #209

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1eb9616
remove harcoded path
oscar-lima Jul 25, 2019
b9e5c2c
Merge branch 'master' of github.com:KCL-Planning/ROSPlan into rm-harc…
oscar-lima Aug 9, 2019
1dd03f9
extract planner path from planner command, cd there first, then run p…
oscar-lima Aug 9, 2019
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60 changes: 30 additions & 30 deletions rosplan_planning_system/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -49,17 +49,17 @@ add_executable(problemInterface src/ProblemGeneration/ProblemInterface.cpp src/P
src/ProblemGeneration/ProblemGenerator.cpp
src/ProblemGeneration/RDDLProblemGenerator.cpp
src/ProblemGeneration/ProblemGeneratorFactory.cpp)
add_executable(popf_planner_interface src/PlannerInterface/POPFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(ff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(rddlsim_planner_interface src/PlannerInterface/RDDLSIMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(metricff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(smt_planner_interface src/PlannerInterface/SMTPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(fd_planner_interface src/PlannerInterface/FDPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(popf_planner_interface src/PlannerInterface/POPFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(ff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(rddlsim_planner_interface src/PlannerInterface/RDDLSIMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(metricff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(smt_planner_interface src/PlannerInterface/SMTPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(fd_planner_interface src/PlannerInterface/FDPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(tfd_planner_interface src/PlannerInterface/TFDPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(lpg_planner_interface src/PlannerInterface/LPGPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(upm_planner_interface src/PlannerInterface/UPMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(pprp_planner_interface src/PlannerInterface/PPRPPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(online_planner_interface src/PlannerInterface/OnlinePlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(lpg_planner_interface src/PlannerInterface/LPGPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(upm_planner_interface src/PlannerInterface/UPMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(pprp_planner_interface src/PlannerInterface/PPRPPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
# add_executable(online_planner_interface src/PlannerInterface/OnlinePlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(pddl_simple_plan_parser src/PlanParsing/PDDLSimplePlanParser.cpp src/PlanParsing/PlanParser.cpp)
add_executable(pddl_esterel_plan_parser src/PlanParsing/PDDLEsterelPlanParser.cpp src/PlanParsing/PlanParser.cpp)
add_executable(pddl_simple_plan_dispatcher src/PlanDispatch/SimplePlanDispatcher.cpp src/PlanDispatch/PlanDispatcher.cpp)
Expand All @@ -69,17 +69,17 @@ add_executable(simulatedAction src/ActionInterface/RPSimulatedActionInterface.cp

## Add dependencies
add_dependencies(problemInterface ${catkin_EXPORTED_TARGETS})
add_dependencies(popf_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(ff_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(rddlsim_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(metricff_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(smt_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(fd_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(popf_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(ff_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(rddlsim_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(metricff_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(smt_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(fd_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(tfd_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(lpg_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(upm_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(pprp_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(online_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(lpg_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(upm_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(pprp_planner_interface ${catkin_EXPORTED_TARGETS})
# add_dependencies(online_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_simple_plan_parser ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_esterel_plan_parser ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_simple_plan_dispatcher ${catkin_EXPORTED_TARGETS})
Expand All @@ -89,17 +89,17 @@ add_dependencies(simulatedAction ${catkin_EXPORTED_TARGETS})

## Specify libraries against which to link a library or executable target
target_link_libraries(problemInterface ${catkin_LIBRARIES})
target_link_libraries(popf_planner_interface ${catkin_LIBRARIES})
target_link_libraries(ff_planner_interface ${catkin_LIBRARIES})
target_link_libraries(rddlsim_planner_interface ${catkin_LIBRARIES})
target_link_libraries(metricff_planner_interface ${catkin_LIBRARIES})
target_link_libraries(smt_planner_interface ${catkin_LIBRARIES})
target_link_libraries(fd_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(popf_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(ff_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(rddlsim_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(metricff_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(smt_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(fd_planner_interface ${catkin_LIBRARIES})
target_link_libraries(tfd_planner_interface ${catkin_LIBRARIES})
target_link_libraries(lpg_planner_interface ${catkin_LIBRARIES})
target_link_libraries(upm_planner_interface ${catkin_LIBRARIES})
target_link_libraries(pprp_planner_interface ${catkin_LIBRARIES})
target_link_libraries(online_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(lpg_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(upm_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(pprp_planner_interface ${catkin_LIBRARIES})
# target_link_libraries(online_planner_interface ${catkin_LIBRARIES})
target_link_libraries(pddl_simple_plan_parser ${catkin_LIBRARIES})
target_link_libraries(pddl_esterel_plan_parser ${catkin_LIBRARIES})
target_link_libraries(pddl_simple_plan_dispatcher ${catkin_LIBRARIES})
Expand Down
3 changes: 2 additions & 1 deletion rosplan_planning_system/include/rosplan_planning_system/PlannerInterface/PlannerInterface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ namespace KCL_rosplan {
double problem_instance_time;

/* planning */
virtual bool runPlanner() =0;
virtual bool runPlanner(std::string planner_path) =0;

public:

Expand All @@ -50,6 +50,7 @@ namespace KCL_rosplan {
bool runPlanningServerDefault(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
bool runPlanningServerParams(rosplan_dispatch_msgs::PlanningService::Request &req, rosplan_dispatch_msgs::PlanningService::Response &res);
void runPlanningServerAction(const rosplan_dispatch_msgs::PlanGoalConstPtr& goal);
bool extract_planner_path(std::string &planner_command, std::string &planner_path);
bool runPlanningServer(std::string domainPath, std::string problemPath, std::string dataPath, std::string plannerCommand, bool useProblemTopic);

/* ROS interface */
Expand Down
2 changes: 1 addition & 1 deletion ...an_planning_system/include/rosplan_planning_system/PlannerInterface/TFDPlannerInterface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ namespace KCL_rosplan {

protected:

bool runPlanner();
bool runPlanner(std::string planner_path);

public:

Expand Down
38 changes: 36 additions & 2 deletions rosplan_planning_system/src/PlannerInterface/PlannerInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,37 @@ namespace KCL_rosplan {
plan_server->setAborted();
}
}


/**
* extract planner path from planner command
*/
bool PlannerInterface::extract_planner_path(std::string &planner_command, std::string &planner_path) {
size_t pos = 0;

planner_path.clear();
planner_path = planner_command;

// remove timeout N
for(size_t i = 0; i < 2; i++) {
pos = planner_path.find(" ");
if(pos == std::string::npos) return false;
planner_path.erase(0, pos + 1);
}

pos = planner_path.find(" ");
if(pos == std::string::npos) return false;
planner_path.erase(pos, planner_path.size());

pos = planner_path.find_last_of("/");
if(pos == std::string::npos) return false;
planner_path.erase(pos, planner_path.size());

// add "/" at the end of the planner path
planner_path.insert(planner_path.size(), "/");

return true;
}

/**
* planning system; prepares planning; calls planner; parses plan.
*/
Expand Down Expand Up @@ -93,7 +123,11 @@ namespace KCL_rosplan {
return false;
}

bool success = runPlanner();
// get planner path
std::string planner_path;
extract_planner_path(planner_command, planner_path);

bool success = runPlanner(planner_path);

// publish planner output
if(success) {
Expand Down
8 changes: 3 additions & 5 deletions rosplan_planning_system/src/PlannerInterface/TFDPlannerInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ namespace KCL_rosplan {
/**
* passes the problem to the Planner; the plan to post-processing.
*/
bool TFDPlannerInterface::runPlanner() {
bool TFDPlannerInterface::runPlanner(std::string planner_path) {

// save problem to file for TFD
if(use_problem_topic && problem_instance_received) {
Expand All @@ -65,16 +65,14 @@ namespace KCL_rosplan {
std::size_t pit = str.find("PROBLEM");
if(pit!=std::string::npos) str.replace(pit,7,problem_path);

// path is based on the default installation of the Temporal Fast Downward
std::string updatePlan = "cp "+data_path+"../../rosplan_planning_system/common/bin/tfd-src-0.4/downward/tfdplan.1"+" "+data_path+"plan.pddl";


// call the planer
str.insert(0, "cd " + planner_path + " && ");
ROS_INFO("KCL: (%s) (%s) Running: %s", ros::this_node::getName().c_str(), problem_name.c_str(), str.c_str());
std::string plan = runCommand(str.c_str());
ROS_INFO("KCL: (%s) (%s) Planning complete", ros::this_node::getName().c_str(), problem_name.c_str());

// move plan to correct path
std::string updatePlan = "cp " + planner_path + "plan.pddl.1 " + data_path + "plan.pddl";
runCommand(updatePlan.c_str());

// check the planner solved the problem
Expand Down