the planner problem about rosplan HOT 4 CLOSED

Hello,

Thanks for your interest!

More information on POPF can be found here:
http://www.inf.kcl.ac.uk/research/groups/PLANNING/index.php?option=com_content&view=article&id=46&Itemid=55

And the source code can be found on the sourceforge page here:
http://sourceforge.net/projects/tsgp/

To use another planner, you must do two things:
A. Alter the command line for the planner, which is found in the launch file:

<node name="rosplan_planning_system" pkg="rosplan_planning_system" type="planner" respawn="false" output="screen">
        ...
        <!-- to run the planner -->
        <param name="planner_command" value="timeout 10 $(find rosplan_planning_system)/common/bin/popf -n" />
</node>

The command line will then be:
timeout 10 $(find rosplan_planning_system)/common/bin/popf -n [domain] [problem]

If you need to change it further, the code can be found in rosplan_planning_system/src/PlanningSystem.cpp (lines 193-199)

B. If the output is different from POPF output, then you must alter the code that parses the plan.
This can be found in rosplan_planning_system/src/PlanParser.cpp This code reads in the plan from file, and generates a list of action messages to be sent.

Michael

from rosplan.

Hi,
Thanks for your reply.
Actually,the POPF page "http://www.inf.kcl.ac.uk/research/groups/PLANNING/index.php?option=com_content&view=article&id=46&Itemid=55 "

and source download page" http://sourceforge.net/projects/tsgp/"
has been tried by me several days ago, but unfortunately, when I follow its step and run the command "./build"　to build the popf2(filename is tempo-sat-popf2), it throw the error that some variables are not found". When I try to run the command "./run-cmake-release" to compile OPTIC (filename is optic),but it also throw the error. All in all, I guess that the things such as "popf2-clp","popf3-clp","optic-clp" are needed but I don't have.

Er...　I don't know whether you understand what I said. Anyhow, thanks a lot for your help.

from rosplan.

POPF is a separate tool from ROSPlan -- your best bet is to contact its developer, Andrew Coles:
http://www.inf.kcl.ac.uk/staff/andrew/

from rosplan.

Thank you so much! _

from rosplan.