syntax error fixed

rezan21 · Jan 17, 2019 · f8ace45 · f8ace45
1 parent 1956cc8
commit f8ace45
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Showing 2 changed files with 23 additions and 24 deletions.
diff --git a/launchFile.launch b/launchFile.launch
@@ -80,15 +80,32 @@
 		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
 	</node>
 
-  <node name="rosplan_interface_move" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+  <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="move"/>
+		<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>
diff --git a/supermarket-domain.pddl b/supermarket-domain.pddl
@@ -12,7 +12,6 @@
 (:predicates
   (at ?o - object ?l - location)
   (on ?i - item ?a - agent)
-  (agentoncar ?a ?c )
   (hasagent ?c - car)
   (hasnotagent ?c - car)
   (haspath ?from - location ?to - location)
@@ -49,7 +48,7 @@
 
 )
 
-(:durative-action move
+(:durative-action movecar
 :parameters (?c - car ?from - location ?to - location)
 :duration(= ?duration 10)
 :condition(and
@@ -61,42 +60,25 @@
 (at start(not(at ?c ?from)) )
 (at end(at ?c ?to))
 )
+)
 
 (:durative-action getoncar
 :parameters (?a - agent ?c - car ?l - location)
 :duration(= ?duration 5)
 :condition(and
-;at start has no driver or over all?
-(at start((hasnotagent ?c))  )
+;hasnotagent over all or at start
+(at start(hasnotagent ?c))
 (at start(at ?a ?l))
 (over all(at ?c ?l))
-
 )
 :effect(and
 (at start(not(at ?a ?l)) )
-(at end(agentoncar ?a ?c))
 (at end(hasagent ?c))
 (at end(not(hasnotagent ?c)))
 )
 
 )
 
-(:durative-action getoffcar
-:parameters (?a - agent ?c - car ?l - location)
-:duration(= ?duration 5)
-:condition(and
-(at start(agentoncar ?a ?c))
-(over all(at ?c ?l))
-
-)
-:effect(and
-(at start(not(hasagent? c)) )
-(at start(hasnotagent ?c))
-(at start(not(agentoncar ?a ?c)))
-(at end(at ?a ?l))
-)
-
-)