complex problem added

complex-supermarket-problem.pddl

@@ -0,0 +1,141 @@
+(define (problem complexProblem)
+(:domain simple-supermarket)
+(:objects
+x1 x2 x3 x4 x5 x6 x7 - location
+a1 a2 a3 a4 a5 a6 a7 - agent
+i1 i2 i3 i4 i5 i6 i7 i8 i9 i10 i11 i12 i13 i14 i15 i16 i17 - item
+c1 - car
+c2 - car
+c3 - car
+
+
+
+
+
+)
+(:init
+
+(at a1 x1)
+(at a2 x1)
+(at a3 x4)
+(at a4 x5)
+(at a5 x7)
+(at a6 x6)
+(at a7 x6)
+
+(at c1 x1)
+(at c2 x1)
+(at c3 x3)
+
+
+(at i1 x3)
+(at i2 x3)
+(at i3 x3)
+(at i4 x3)
+(at i5 x3)
+(at i6 x3)
+(at i7 x2)
+(at i8 x2)
+(at i9 x2)
+(at i10 x2)
+(at i11 x2)
+(at i12 x2)
+(at i13 x3)
+(at i14 x4)
+(at i15 x5)
+(at i16 x6)
+(at i17 x7)
+
+
+(hasnotagent c1)
+(hasnotagent c2)
+(hasnotagent c3)
+(notbusy a1)
+(notbusy a2)
+(notbusy a3)
+(notbusy a4)
+(notbusy a5)
+(notbusy a6)
+(notbusy a7)
+
+(haspath x1 x2)
+(haspath x2 x1)
+(haspath x2 x3)
+(haspath x3 x2)
+(haspath x1 x7)
+(haspath x7 x1)
+
+(= (numberofcarrings a1) 0)
+(= (capacity a1) 4)
+
+(= (numberofcarrings a2) 0)
+(= (capacity a2) 4)
+
+(= (numberofcarrings a3) 1)
+(= (capacity a2) 3)
+
+(= (numberofcarrings a4) 0)
+(= (capacity a2) 4)
+
+(= (numberofcarrings a5) 2)
+(= (capacity a2) 10)
+
+(= (numberofcarrings a6) 0)
+(= (capacity a2) 1)
+
+(= (numberofcarrings a7) 0)
+(= (capacity a2) 3)
+
+
+
+(= (distancetime x1 x2) 20)
+(= (distancetime x2 x1) 20)
+
+(= (distancetime x2 x3) 20)
+(= (distancetime x3 x2) 20)
+
+(= (distancetime x3 x4) 20)
+(= (distancetime x3 x3) 20)
+
+
+(= (distancetime x4 x5) 20)
+(= (distancetime x5 x4) 20)
+
+(= (distancetime x5 x6) 20)
+(= (distancetime x6 x5) 20)
+
+(= (distancetime x6 x7) 20)
+(= (distancetime x7 x6) 20)
+
+
+
+)
+
+(:goal
+(and
+(at i1 x1)
+(at i2 x1)
+(at i3 x1)
+(at i4 x1)
+(at i5 x1)
+(at i6 x1)
+(at i7 x1)
+(at i8 x1)
+(at i9 x1)
+(at i10 x1)
+(at i11 x1)
+(at i12 x1)
+(at i13 x1)
+(at i14 x1)
+(at i15 x1)
+(at i16 x1)
+(at i17 x1)
+
+
+)
+)
+
+
+
+
+)

complexProblemLaunch.launch

@@ -0,0 +1,113 @@
+<launch>
+
+	<arg name="domain" default="$(find explainable_planning)/common/supermarket-domain.pddl"/>
+
+	<!-- scene database (MongoDB) -->
+
+	<include file="$(find mongodb_store)/launch/mongodb_store.launch">
+		<arg name="db_path" value="$(find rosplan_knowledge_base)/common/mongoDB/"/>
+	</include>
+
+	<!-- knowledge base -->
+
+	<node name="rosplan_knowledge_base" pkg="rosplan_knowledge_base" type="knowledgeBase" respawn="false" output="screen">
+		<param name="domain_path" value="$(arg domain)"/>
+		<!-- change problem here -->
+		<param name="problem_path" value="$(find explainable_planning)/common/complex-supermarket-problem.pddl"/>
+		<param name="database_path" value="$(find rosplan_knowledge_base)/common/mongoDB/"/>
+		<!-- conditional planning flags -->
+		<param name="use_unknowns" value="False"/>
+	</node>
+
+	<!-- problem generation -->
+
+	<node name="rosplan_problem_interface" pkg="rosplan_planning_system" type="problemInterface" respawn="false" output="screen">
+		<param name="domain_path" value="$(arg domain)"/>
+		<param name="problem_path" value="$(find rosplan_planning_system)/common/problem.pddl"/>
+		<param name="problem_topic" value="problem_instance"/>
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+	</node>
+
+	<!-- planning system -->
+
+	<node name="rosplan_planner_interface" pkg="rosplan_planning_system" type="popf_planner_interface" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<!-- general options -->
+		<param name="use_problem_topic" value="true"/>
+		<!-- ros topics -->
+		<param name="problem_topic" value="/rosplan_problem_interface/problem_instance"/>
+		<param name="planner_topic" value="planner_output"/>
+		<!-- directory for files -->
+		<param name="domain_path" value="$(arg domain)"/>
+		<param name="problem_path" value="$(find rosplan_planning_system)/common/problem.pddl"/>
+		<param name="data_path" value="$(find rosplan_planning_system)/common/"/>
+		<!-- to run the planner -->
+		<param name="planner_command" value="$(find rosplan_planning_system)/common/bin/popf DOMAIN PROBLEM"/>
+	</node>
+
+	<!-- plan parsing -->
+	<node name="rosplan_parsing_interface" pkg="rosplan_planning_system" type="pddl_simple_plan_parser" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="planner_topic" value="/rosplan_planner_interface/planner_output"/>
+		<param name="plan_topic" value="complete_plan"/>
+	</node>
+
+	<!-- plan explanation -->
+	<node name="rosplan_plan_explainer" pkg="explainable_planning" type="rpexplainer" respawn="false" output="screen">
+		<param name="plan_topic" value="/rosplan_parsing_interface/complete_plan"/>
+		<param name="action_dispatch_topic" value="action_dispatch"/>
+		<param name="action_feedback_topic" value="action_feedback"/>
+	</node>
+
+	<!-- sim actions -->
+	<!-- change actions here -->
+
+	<node name="rosplan_interface_pick" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="pddl_action_name" value="pick"/>
+		<param name="action_duration" value="0.0"/>
+		<param name="action_probability" value="1.0"/>
+		<param name="action_dispatch_topic" value="/rosplan_plan_explainer/action_dispatch"/>
+		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
+	</node>
+
+  <node name="rosplan_interface_drop" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="pddl_action_name" value="drop"/>
+		<param name="action_duration" value="0.0"/>
+		<param name="action_probability" value="1.0"/>
+		<param name="action_dispatch_topic" value="/rosplan_plan_explainer/action_dispatch"/>
+		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
+	</node>
+
+  <node name="rosplan_interface_movecar" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="pddl_action_name" value="movecar"/>
+		<param name="action_duration" value="0.0"/>
+		<param name="action_probability" value="1.0"/>
+		<param name="action_dispatch_topic" value="/rosplan_plan_explainer/action_dispatch"/>
+		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
+	</node>
+
+	<node name="rosplan_interface_getoncar" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="pddl_action_name" value="getoncar"/>
+		<param name="action_duration" value="0.0"/>
+		<param name="action_probability" value="1.0"/>
+		<param name="action_dispatch_topic" value="/rosplan_plan_explainer/action_dispatch"/>
+		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
+	</node>
+
+<node name="rosplan_interface_getoffcar" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+		<param name="knowledge_base" value="rosplan_knowledge_base"/>
+		<param name="pddl_action_name" value="getoffcar"/>
+		<param name="action_duration" value="0.0"/>
+		<param name="action_probability" value="1.0"/>
+		<param name="action_dispatch_topic" value="/rosplan_plan_explainer/action_dispatch"/>
+		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
+	</node>
+
+
+
+
+</launch>