Transparent pddl

[fmrico]

Dear all,

This is a big change, and I would like to have feedback from you @teyssieuman @mark-sentaca @jjzapf @rossj13

Issues #61 #35 #21, at least, are motivated by the limitation of how plansys2_domain_expert stores the pddl domain. That's because I wanted to manage (merge) several domains. This can be useful in an application like this .

This PR contains an alternative way to solve this. With these changes, the model is not deep parsed, with the limitation that you found. Now, the domains are merged, respecting the original pddl content.

I hope you find it interesting. Please, try this branch to see if it solves the limitation that you found.

Best

[codecov]

Codecov Report

Merging #62 (61f6941) into master (bd7708d) will increase coverage by 0.01%.
The diff coverage is 30.60%.

@@            Coverage Diff             @@
##           master      #62      +/-   ##
==========================================
+ Coverage   23.07%   23.08%   +0.01%     
==========================================
  Files         116      119       +3     
  Lines        6137     6454     +317     
  Branches     3562     3811     +249     
==========================================
+ Hits         1416     1490      +74     
- Misses       2231     2279      +48     
- Partials     2490     2685     +195     

Flag	Coverage Δ
unittests	23.08% <30.60%> (+0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...rt/src/plansys2_domain_expert/DomainExpertNode.cpp	15.71% <ø> (+1.14%)	⬆️
...2_problem_expert/test/unit/problem_expert_test.cpp	17.35% <ø> (ø)
...ys2_domain_expert/test/unit/domain_expert_test.cpp	8.83% <11.11%> (+0.35%)	⬆️
...ys2_domain_expert/test/unit/domain_reader_test.cpp	16.12% <16.12%> (ø)
...omain_expert/test/unit/domain_expert_node_test.cpp	18.42% <18.42%> (ø)
...expert/src/plansys2_domain_expert/DomainExpert.cpp	48.44% <44.89%> (+0.62%)	⬆️
...expert/src/plansys2_domain_expert/DomainReader.cpp	50.42% <50.42%> (ø)
...s2_pddl_parser/src/plansys2_pddl_parser/Lifted.cpp	9.09% <0.00%> (-45.46%)	⬇️
...pddl_parser/src/plansys2_pddl_parser/ParamCond.cpp	0.00% <0.00%> (-44.45%)	⬇️
..._pddl_parser/src/plansys2_pddl_parser/Function.cpp	25.00% <0.00%> (-16.67%)	⬇️
... and 6 more

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[mark-sentaca]

This looks very interesting. We will be taking a closer look. Thanks!

[mark-sentaca]

We've worked through the build changes (which turned out to be pretty minor) but are still seeing the 'assign' token not known error. Are there any changes in terms of usage we need to change in order to ensure our test application is using the new functionality? Thanks

[fmrico]

We've worked through the build changes (which turned out to be pretty minor) but are still seeing the 'assign' token not known error.

@mark-sentaca, in the first tutorial, I describe how to run directly popf in the terminal with a domain and a problem file.

ros2 run popf popf /tmp/domain.pddl /tmp/problem.pddl

Could you please try if this token is accepted? If not, try the same with TFD?

[mark-sentaca]

Thank you - that has exposed a few errors in our pddl definition that I will have to debug. Interestingly, the token appears to be accepted because the errors are not related to the 'assign' keyword.

Will keep you in the loop as we debug this. We are relatively new to pddl so that's been a learning curve with the team here.

[mark-sentaca]

The error we were seeing from PlanSys2 was:
[plansys2_node-1] [ERROR] [1609429229.751065720] []: Caught exception in callback for transition 10
[plansys2_node-1] [ERROR] [1609429229.751072881] []: Original error: 'assign' does not name a known token
[plansys2_node-1] [WARN] [1609429229.751085925] []: Error occurred while doing error handling.
[plansys2_node-1] [ERROR] [1609429229.751090880] [domain_expert]: [domain_expert] Error transition
[plansys2_node-1] [WARN] [1609429229.751474353] [domain_expert_lc_mngr]: Failed to trigger transition 1