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[pddl_planner/demos/search_object] fix bug, and add launch file #78

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[pddl_planner/demos/search_object] fix bug, and add launch file #78

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[pddl_planner/demos/search_object] fix bug, and add launch file
Naoki-Hiraoka Jun 19, 2020
8bb2972
Update pddl/pddl_planner/demos/search_object/solve-search-object.l
Naoki-Hiraoka Feb 21, 2022
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12 changes: 12 additions & 0 deletions pddl/pddl_planner/demos/search_object/demo_search_object.launch
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Original file line number Diff line number Diff line change
@@ -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>
6 changes: 2 additions & 4 deletions pddl/pddl_planner/demos/search_object/solve-search-object.l
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Expand Up @@ -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)))
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;; 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)

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