From f20c323e9c11289fa6ad266b6045891e0b9c0896 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 19 Jun 2020 16:11:13 +0900
Subject: [PATCH 1/2] [pddl_planner/demos/search_object] fix bug, and add
 launch file

---
 .../demos/search_object/demo_search_object.launch    | 12 ++++++++++++
 .../demos/search_object/solve-search-object.l        |  6 ++----
 2 files changed, 14 insertions(+), 4 deletions(-)
 create mode 100644 pddl/pddl_planner/demos/search_object/demo_search_object.launch

diff --git a/pddl/pddl_planner/demos/search_object/demo_search_object.launch b/pddl/pddl_planner/demos/search_object/demo_search_object.launch
new file mode 100644
index 00000000..024b2261
--- /dev/null
+++ b/pddl/pddl_planner/demos/search_object/demo_search_object.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="viewer" default="true" />
+  <include file="$(find pddl_planner)/launch/pddl_downward.launch" />
+  <node name="demo_search_object" pkg="roseus" type="roseus"
+        args="$(find pddl_planner)/demos/search_object/solve-search-object.l"
+        output="screen">
+    <param name="display_graph" value="$(arg viewer)" />
+  </node>
+
+  <node pkg="smach_viewer" name="smach_viewer"
+        type="smach_viewer.py" if="$(arg viewer)" />
+</launch>
diff --git a/pddl/pddl_planner/demos/search_object/solve-search-object.l b/pddl/pddl_planner/demos/search_object/solve-search-object.l
index 3ca4d715..275b4b9c 100755
--- a/pddl/pddl_planner/demos/search_object/solve-search-object.l
+++ b/pddl/pddl_planner/demos/search_object/solve-search-object.l
@@ -125,14 +125,12 @@
 ;;
 
 ;; normal plan
-(pprint (setq *result* (solve-pddl-planning *domain* *problem* :debug nil)))
+(setq *graph* (pddl-plan-to-graph nil :domain *domain* :problem *problem* :failed-nodes (list 'detect :debug nil)))
 ;; there is no target object in environment
 (pprint (setq *result-fail-end* (solve-pddl-planning *domain* *problem-fail-end* :debug nil)))
 
-;; at first, make graph from failed plan (because failed plan does not contain success detection)
-(setq *graph* (make-graph-from-pddl-results (list *result-fail-end*) :node-name :pprint))
 ;; merge 2 results and adding failure
-(setq *graph* (add-failed-nodes *result* (list 'detect) :graph *graph*))
+(setq *graph* (make-graph-from-pddl-results (list *result-fail-end*) :node-name :pprint :graph *graph*))
 
 (make-readable-graph *graph* :copy nil)
 

From 8bb29721c71a19ac0197ccb854f98b6585c142a1 Mon Sep 17 00:00:00 2001
From: Naoki Hiraoka <32383525+Naoki-Hiraoka@users.noreply.github.com>
Date: Mon, 21 Feb 2022 20:53:20 +0900
Subject: [PATCH 2/2] Update
 pddl/pddl_planner/demos/search_object/solve-search-object.l

Co-authored-by: Shingo Kitagawa <knorth55@users.noreply.github.com>
---
 pddl/pddl_planner/demos/search_object/solve-search-object.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pddl/pddl_planner/demos/search_object/solve-search-object.l b/pddl/pddl_planner/demos/search_object/solve-search-object.l
index 275b4b9c..f450556c 100755
--- a/pddl/pddl_planner/demos/search_object/solve-search-object.l
+++ b/pddl/pddl_planner/demos/search_object/solve-search-object.l
@@ -125,7 +125,7 @@
 ;;
 
 ;; normal plan
-(setq *graph* (pddl-plan-to-graph nil :domain *domain* :problem *problem* :failed-nodes (list 'detect :debug nil)))
+(setq *graph* (pddl-plan-to-graph nil :domain *domain* :problem *problem* :failed-nodes (list 'detect) :debug nil))
 ;; there is no target object in environment
 (pprint (setq *result-fail-end* (solve-pddl-planning *domain* *problem-fail-end* :debug nil)))