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Fix regressons of https://github.com/jsk-ros-pkg/jsk_planning/pull/88, when planner_option without &quat;, #103

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Fix regressons of https://github.com/jsk-ros-pkg/jsk_planning/pull/88, when planner_option without &quat;, #103

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11 changes: 8 additions & 3 deletions pddl/pddl_planner/src/pddl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import signal
import subprocess as sp
import sys
import shlex
import tempfile
import traceback

Expand Down Expand Up @@ -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()

Expand Down Expand Up @@ -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)
Expand Down
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