NODE rosplan_pipeline_manager.py

This is maybe the most important node of the RoboCLuedo ROSPlan package: it allows other nodes to plan and to dispatch the solved plan with a simple interface. Moreover, it adds a large set of informations and details about how the planning process proceeds, and in particular when something wrong occurs, it makes this failure explainable.

The ROSPlan workflow is always the same: load the problem, try to solve it, parse the solved plan, and finally dispatch the solved plan. Each step must be “triggered” each time it is required. And each step, when finished its job, returns something via topic. In other words, it is a pipeline, and this node collects all these triggers in only one place.

Authors:

Francesco Ganci (S4143910)

Version

v1.0.0

rosplan_pipeline_manager.LANDMARK_COLLECT = 1

collect

Type

landmark corresponding to

rosplan_pipeline_manager.LANDMARK_REPLAN = 0

replan

Type

landmark corresponding to

rosplan_pipeline_manager.LANDMARK_SOLVE = 2

solve

Type

landmark corresponding to

rosplan_pipeline_manager.NODE_NAME = 'rosplan_pipeline_manager'

nothing to say, node name

rosplan_pipeline_manager.SRV_TIMEOUT = 60

a timeout of 1min used for the client connection

rosplan_pipeline_manager.action_feedback_msg = None

the pending feedback from the actions

rosplan_pipeline_manager.action_feedback_received = False

any pending feedback?

rosplan_pipeline_manager.cbk_action_feedback(feedback)

receive a feedback from the ROSPlan action

The feedback manager can provide an explaination of whatever problem it could arise during the dispatch phase. It is used mostly for detecting a hardware failure,

Parameters

plan (robocluedo_rosplan_msgs/ActionFeedback) – the feedback from the last executed action

Attention

the feedback manager does not send a “succes” feedbacl, meaning that a feedback is sent only when something goes wrong.

rosplan_pipeline_manager.cbk_parsing_interface(plan)

this callback receives the output from the parsing interface, if any

this topic is used for understanding if the planning interface succeeded in parsing the plan.

Parameters

plan (rosplan_dispatch_msgs/CompletePlan) – the parsed plan

Note

if something goes wrong, the node publishes nothing!

rosplan_pipeline_manager.cbk_pipeline(req)

implementation of the service pipeline manager

This very long function allows to use the ROSPlan framework as a pipeline, in a simple way.

Parameters

req (RosplanPipelineManagerServiceRequest) – the pipeline request

Returns

(RosplanPipelineManagerServiceResponse) the response to the caller.

rosplan_pipeline_manager.cbk_planning_interface(plan)

this callback receives the output from the planner, if any

When the plannning interface ended its work, it publishes on this topic the preprocessed problem instance. The pipeline manager uses this topic for understanding the outcome of the problem solution phase.

Parameters

plan (std_msgs/String) – the solution of the problem

Note

if something goes wrong, the node publishes nothing!

rosplan_pipeline_manager.cbk_problem_instance(problem)

this callback received the problem instance from the problem interface

When the problem interface ended its work, it publishes on this topic the preprocessed problem instance. The pipeline manager uses this topic for understanding the outcome of this loading phase.

Parameters

problem (std_msgs/String) – the problem instance loaded into the knowledge base.

Note

if something goes wrong, the node publishes nothing!

rosplan_pipeline_manager.cl_dispatch = None

(ros client handle) plan dispatcher

rosplan_pipeline_manager.cl_parse = None

(ros client handle) plan parser trigger

rosplan_pipeline_manager.cl_plan = None

(ros client handle) planning interface trigger

rosplan_pipeline_manager.cl_problem = None

(ros client handle) problem instance trigger

rosplan_pipeline_manager.cl_update_goal = None

(ros client handle) set a particular goal into the rosplan knowledge base

rosplan_pipeline_manager.inspect_planner_output(fpath)

the function reurns true when the problem has been found unsolvable. Otherwise, it returns false.

This function is used when there’s something wrong with the planning interface, and enables to distinguish the scenario in which the planner is not solvable from the simple syntax error.

Parameters

fpath (String) – the path of the output from the planner.

Attention

this function is good only for popf planner, because when the problem is declared unsolvable, it writes a particular thing on the output, the one that is searched by this function in order to understand if the problem is unsolvable or simply badly formulated. Using other planners makes this function to be updated.

rosplan_pipeline_manager.open_cl(cl_name, cl_type)

handful utility to open a client

Parameters

• cl_name (string) – name of the client

• cl_type – type of message used by the service

rosplan_pipeline_manager.parsing_interface_array = []

the parsed plan

rosplan_pipeline_manager.parsing_interface_received = False

if the parsed plan han been sent or not

rosplan_pipeline_manager.planner_interface_received = False

it becomes false a bit before triggering the planner, and true when the planning interface succeeded.

rosplan_pipeline_manager.planner_interface_solution_path = ''

the value of the parameter “output_problem_path”

rosplan_pipeline_manager.planner_interface_text = ''

text received from the planning interface

rosplan_pipeline_manager.problem_instance_received = False

this flag is set true when the subscriber received a problem instance. this means that the problem generation worked as expected.

rosplan_pipeline_manager.problem_instance_text = ''

the last problem instance received

rosplan_pipeline_manager.service_dispatch = '/rosplan_plan_dispatcher/dispatch_plan'

name of the service plan dispatch

rosplan_pipeline_manager.service_parse = '/rosplan_parsing_interface/parse_plan'

name of the trigger of the plan parser

rosplan_pipeline_manager.service_pipeline = '/robocluedo/pipeline_manager'

service for the pipeline command manager

rosplan_pipeline_manager.service_plan = '/rosplan_planner_interface/planning_server'

name of the trigger of planning interface

rosplan_pipeline_manager.service_problem = '/rosplan_problem_interface/problem_generation_server'

name of the trigger of problem interface

rosplan_pipeline_manager.service_update_goal = '/update_goal'

used to apply a landmark to the knowledge base

rosplan_pipeline_manager.shut_msg()

called at the shutdown of the node, just a message

rosplan_pipeline_manager.srv_pipeline = None

(ros service handle) service handle for the pipeline service

rosplan_pipeline_manager.sub_action_feedback = None

(ros subscriber handle) the feedback subscription

rosplan_pipeline_manager.sub_parser_interface = None

(ros subscription handle)

rosplan_pipeline_manager.sub_planner_interface = None

(ros subscription handle)

rosplan_pipeline_manager.sub_problem_instance = None

(ros subscriber handle)

rosplan_pipeline_manager.topic_action_feedback = '/robocluedo/action_feedback'

the topic for receiving the feedback

rosplan_pipeline_manager.topic_parser_interface = '/rosplan_parsing_interface/complete_plan'

used for checking the outcome of the parsing interface

rosplan_pipeline_manager.topic_planner_interface = '/rosplan_planner_interface/planner_output'

used for checking if the plan succeeded

rosplan_pipeline_manager.topic_problem_instance = '/rosplan_problem_interface/problem_instance'

topic used to understand if the problem generation succeeded