Merge pull request #104 from k-okada/test_103

test to cehck #103 (planner_option without &quat;)

pddl/pddl_planner/src/pddl.py

@@ -7,6 +7,7 @@
 import signal
 import subprocess as sp
 import sys
+import shlex
 import tempfile
 import traceback
 
@@ -46,7 +47,11 @@ def __init__(self, name):
         # resolve rosparam
         self._planner_name = rospy.get_param('~pddl_planner', 'downward')
         search_option = rospy.get_param('~pddl_search_option', '')
-        self._search_option = search_option.strip().split()
+        # https://stackoverflow.com/questions/79968/split-a-string-by-spaces-preserving-quoted-substrings-in-python
+        # https://github.com/jsk-ros-pkg/jsk_planning/pull/88 changes 'sp.Popen(command' to 'sp.Popen(" ".join(command)', this assumes `planner_option` uses `--search &quat;iterated([lazy_greedy([hff,hlm], preferred=[hff,hlm]), ...)&quat;`
+        # but some launch file uses `--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)`, without &quat; and spaces, and jsk_planning 0.1.13 did not work this such eample(https://github.com/jsk-ros-pkg/jsk_demos/blob/ab0360b5580e77ca70006ce505497894fe4ac0d2/jsk_2013_04_pr2_610/test/test-demo-plan.test#L10), https://github.com/jsk-ros-pkg/jsk_demos/issues/1286
+        # this fix uses shlex.split() to keep quated substrings and uses Popen(command, stead of Popen(" ".join(command), to input quated argument as one word.
+        self._search_option = shlex.split(search_option.strip())
 
         self._as.start()
 
@@ -150,8 +155,8 @@ def parse_pddl_result_downward(self, path_name):
     def exec_process(self, command, max_planning_time):
         if max_planning_time > 0.0:
             command = ["timeout", str(max_planning_time)] + command
-        rospy.loginfo("Command: %s" % " ".join(command))
-        proc = sp.Popen(" ".join(command), stdout=sp.PIPE, stderr=sp.PIPE, shell=True)
+        rospy.loginfo("Command: %s" % command)
+        proc = sp.Popen(command, stdout=sp.PIPE, stderr=sp.PIPE)
         try:
             output, error = str(), str()
             r = rospy.Rate(10.0)

pddl/pddl_planner/test/test-sample-pddl.test

@@ -43,4 +43,13 @@
   <test test-name="sample_pddl_downward_client_long_option" pkg="pddl_planner" type="sample-client.py" >
     <remap from="pddl_planner" to="downward_planner_long_option/pddl_planner" />
   </test>
+  <!--
+  Test for both &quat; and non-spaces https://github.com/jsk-ros-pkg/jsk_planning/pull/103
+  -->
+  <include file="$(find pddl_planner)/launch/pddl_downward.launch" ns="downward_planner_long_option_non_spaces" >
+    <arg name="planner_option" value="--heuristic hlm=lmcount(lm_rhw(reasonable_orders=true,lm_cost_type=2,cost_type=2),pref=true) --heuristic hff=ff() --search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]),lazy_wastar([hff,hlm],preferred=[hff,hlm],w=5),lazy_wastar([hff,hlm],preferred=[hff,hlm],w=3),lazy_wastar([hff,hlm],preferred=[hff,hlm],w=2)],repeat_last=false)" />
+  </include>
+  <test test-name="sample_pddl_downward_client_long_option_non_spaces" pkg="pddl_planner" type="sample-client.py" >
+    <remap from="pddl_planner" to="downward_planner_long_option_non_spaces/pddl_planner" />
+  </test>
 </launch>