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.. _mir_task_planning_pkg:
Task planning
=============
`mir_task_planning <https://github.com/b-it-bots/mas_industrial_robotics/tree/kinetic/mir_planning/mir_task_planning>`_
generates task plan using classical planner.
This module provides
- ros independent wrapping for planners (currently ``mercury``
and ``lama``) in ``/common/planner_wrapper/``.
Based on the ``planner`` requested, this module executes a shell command as
mentioned in config file (see :ref:`task_planning_config`). This generates a
bunch of files in ``/tmp/plan/`` directory. The wrapper parses the most optimal
plan file and returns as a list of string. Remaining files are deleted for a
fresh start for next request.
- ros wrapper on top of the previously mentioned module is available in
``/ros`` folder. The ros wrapper is implemented as an ``ActionServer``.
Upon request from an ``ActionClient`` containing ``domain_file``, ``problem_file``,
``planner`` and ``mode``, the server tries to plan with those provided configuration
and returns a ``CompletePlan``.
- ``domain_file`` - file path of domain file (it should be a ``.pddl`` file)
- ``problem_file`` - file path of problem file (it should be a ``.pddl`` file)
- ``planner`` - name of planner to use (``lama`` or ``mercury``)
- ``mode`` - ``PlanGoal.NORMAL`` or ``PlanGoal.FAST`` (fast mode implies that first
plan found will be returned. No further optimisation will be performed by the
planner.
.. note::
This should only be use when a small number of goals are
provided as it will produce a very bad and non optimal plan.
Requirements
------------
- `mercury_planner <https://github.com/b-it-bots/mercury_planner>`_
- `lama_planner <https://github.com/b-it-bots/lama_planner>`_
.. note::
``g++-multilib`` is needed to install these packages.
Usage
-----
- Without ROS
.. code-block:: bash
python planner_wrapper.py
- With ROS
.. code-block:: bash
roscore
roslaunch mir_task_planning task_planner.launch
roslaunch mir_task_planning task_planner_client_test.launch
.. _task_planning_config:
Configuration
-------------
.. literalinclude:: ../../../mir_planning/mir_task_planning/ros/config/planner_commands.yaml
:language: yaml
:emphasize-lines: 5, 9
Additional files
----------------
- ``ros/launch/upload_problem.launch`` and ``ros/test/upload_problem`` can be used
for testing whole planning pipeline without Refbox. This launch file will act
as *refbox*, *refbox client* and *refbox parser*. It reads a ``.pddl`` problem file
and uploads instances and facts to *knowledge base*. To test the whole
planning pipeline without refbox, following things need to be executed
.. code-block:: bash
roscore
roslaunch mir_planning_core task_planning_components.launch
rosrun mir_task_executor task_executor_mockup
roslaunch mir_task_planning upload_problem.launch
roslaunch mir_planning_core task_planning_sm.launch
- ``common/pddl`` contains robocup's domain file and a bunch of problem files for
testing.
.. note::
This folder is needed by default if
``common/planner_wrapper/planner_wrapper.py`` is running standalone.
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