SimplePlanDispatcher does not support negative preconditions about rosplan HOT 3 OPEN

I have added (not(localised v1)) and others to the problem file but it still not works.

It seems that the system does not work when a PDDL domain file is using a negate precondition, I have found the following comment in parsePrecondition() of PlanningEnvironment:

TODO: test negative precondition support.

Am I right? How to solve it?

from rosplan.

(1) Looking through the plan dispatcher code, negative preconditions don't appear to be supported at all. The code you mention does not look at the "neg_goal" VAL type, only "simple_goal".

(2) In the Knowledge Base, a negative precondition will not be detected if the positive fact is not in the KB. However, adding the negative precondition with "is_negative=true" in the KnowlegeItem should work.

To solve the problem in the short term, some code must be added to PlanningEnvironment to iterate through the neg_goal list, and then explicitly adding the negative facts to the KB should work.

I'll leave this issue open and post an update when there is a complete fix.

from rosplan.

Thanks.

I have just checked but VAL::neg_goal has not ng->getProp(), so I think that I cannot use same code as simple_goal. Could you explain your idea more detailed?

from rosplan.