The up4ros Node

The main component of this repository is the up4ros ROS package. This node is a ROS wrapper for the AIPlan4EU Unified Planning library available at this link and exposes the following actions and services:

Actions

PDDLPlanOneShotAction

This action takes in input a pddl problem and domain and tries to use one of the registered planners to produce a solution in the feedback. The result will tell us if the planner managed or not to find a solution.

Goal type: up_msgs.msg.PlanRequest

up_msgs/Problem problem

uint8 SATISFIABLE=0
uint8 SOLVED_OPTIMALLY=1
uint8 resolution_mode

# Max allowed runtime time in seconds.
float64 timeout

# Engine specific options to be passed to the engine
string engine_option_names
string engine_option_values

where a problem is defined as:

string domain_name
string problem_name
up_msgs/TypeDeclaration[] types
up_msgs/Fluent[] fluents
up_msgs/ObjectDeclaration[] objects

# List of actions in the domain.
up_msgs/Action[] actions

# Initial state, including default values of state variables.
up_msgs/Assignment[] initial_state

# Facts and effects that are expected to occur strictly later than the initial state.
# features: TIMED_EFFECT
up_msgs/TimedEffect[] timed_effects

# Goals of the planning problem.
up_msgs/Goal[] goals

# The plan quality metrics
up_msgs/Metric[] metrics


# If the problem is hierarchical, defines the tasks and methods as well as the initial task network.
# features: hierarchical
up_msgs/Hierarchy[] hierarchy

# all features of the problem
uint8[] features

## Features of the problem.
## Features are essential in that not supporting a feature `X` should allow disregarding any field tagged with `features: [X]`.

# PROBLEM_CLASS
uint8 ACTION_BASED=0
uint8 HIERARCHICAL=26
# PROBLEM_TYPE
uint8 SIMPLE_NUMERIC_PLANNING=30
uint8 GENERAL_NUMERIC_PLANNING=31
# TIME
uint8 CONTINUOUS_TIME=1
uint8 DISCRETE_TIME=2
uint8 INTERMEDIATE_CONDITIONS_AND_EFFECTS=3
uint8 TIMED_EFFECT=4
uint8 TIMED_GOALS=5
uint8 DURATION_INEQUALITIES=6
# EXPRESSION_DURATION
uint8 STATIC_FLUENTS_IN_DURATIONS=27
uint8 FLUENTS_IN_DURATIONS=28
# NUMBERS
uint8 CONTINUOUS_NUMBERS=7
uint8 DISCRETE_NUMBERS=8
uint8 BOUNDED_TYPES=38
# CONDITIONS_KIND
uint8 NEGATIVE_CONDITIONS=9
uint8 DISJUNCTIVE_CONDITIONS=10
uint8 EQUALITIES=11
uint8 EXISTENTIAL_CONDITIONS=12
uint8 UNIVERSAL_CONDITIONS=13
# EFFECTS_KIND
uint8 CONDITIONAL_EFFECTS=14
uint8 INCREASE_EFFECTS=15
uint8 DECREASE_EFFECTS=16
uint8 STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS=41
uint8 STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS=42
uint8 FLUENTS_IN_BOOLEAN_ASSIGNMENTS=43
uint8 FLUENTS_IN_NUMERIC_ASSIGNMENTS=44
# TYPING
uint8 FLAT_TYPING=17
uint8 HIERARCHICAL_TYPING=18
# FLUENTS_TYPE
uint8 NUMERIC_FLUENTS=19
uint8 OBJECT_FLUENTS=20
# QUALITY_METRICS
uint8 ACTIONS_COST=21
uint8 FINAL_VALUE=22
uint8 MAKESPAN=23
uint8 PLAN_LENGTH=24
uint8 OVERSUBSCRIPTION=29
# ACTION_COST_KIND
uint8 STATIC_FLUENTS_IN_ACTIONS_COST=45
uint8 FLUENTS_IN_ACTIONS_COST=46
# SIMULATED_ENTITIES
uint8 SIMULATED_EFFECTS=25

feedback type: up_msgs.msg.PlanGenerationResult

## Message sent by engine.
## Contains the engine exit status as well as the best plan found if any.

# ==== Engine stopped normally ======

# Valid plan found
# The `plan` field must be set.
uint8 SOLVED_SATISFICING=0
# Plan found with optimality guarantee
# The `plan` field must be set and contains an optimal solution.
uint8 SOLVED_OPTIMALLY=1
# No plan exists
uint8 UNSOLVABLE_PROVEN=2
# The engine was not able to find a solution but does not give any guarantee that none exist
# (i.e. the engine might not be complete)
uint8 UNSOLVABLE_INCOMPLETELY=3

# ====== Engine exited before making any conclusion ====
# Search stopped before concluding SOLVED_OPTIMALLY or UNSOLVABLE_PROVEN
# If a plan was found, it might be reported in the `plan` field

# The engine ran out of time
uint8 TIMEOUT=13
# The engine ran out of memory
uint8 MEMOUT=14
# The engine faced an internal error.
uint8 INTERNAL_ERROR=15
# The problem submitted is not supported by the engine.
uint8 UNSUPPORTED_PROBLEM=16

# ====== Intermediate answer ======
# This Answer is an Intermediate Answer and not a Final one
uint8 INTERMEDIATE=17

uint8 status

# Optional. Best plan found if any.
up_msgs/Plan plan

# A set of engine specific values that can be reported, for instance
# - "grounding-time": "10ms"
# - "expanded-states": "1290"
string[] metric_names
string[] metric_values

# Optional log messages about the engine's activity.
# Note that it should not be expected that logging messages are visible to the end user.
# If used in conjunction with INTERNAL_ERROR or UNSUPPORTED_PROBLEM, it would be expected to have at least one log message at the ERROR level.
up_msgs/LogMessage[] log_messages

# Synthetic description of the engine that generated this message.
string engine_name

result type: up_msgs.msg.PDDLPlanOneShotResult

bool success
string message

PlanOneShotAction

This action takes in input a problem and domain formulated as ROS messages and tries to use one of the registered planners to produce a solution in the feedback. The result will tell us if the planner managed or not to find a solution.

Goal type: up_msgs.msg.PlanRequest

# Problem that should be solved.

# Specify if the domain/model string contains a file path, or the content
uint8 FILE=0
uint8 RAW=1
uint8 mode

string domain
string problem

uint8 SATISFIABLE=0
uint8 SOLVED_OPTIMALLY=1
uint8 resolution_mode

# Max allowed runtime time in seconds.
float64 timeout

# Engine specific options to be passed to the engine
string engine_option_names
string engine_option_values

feedback type: up_msgs.msg.PlanGenerationResult

## Message sent by engine.
## Contains the engine exit status as well as the best plan found if any.

# ==== Engine stopped normally ======

# Valid plan found
# The `plan` field must be set.
uint8 SOLVED_SATISFICING=0
# Plan found with optimality guarantee
# The `plan` field must be set and contains an optimal solution.
uint8 SOLVED_OPTIMALLY=1
# No plan exists
uint8 UNSOLVABLE_PROVEN=2
# The engine was not able to find a solution but does not give any guarantee that none exist
# (i.e. the engine might not be complete)
uint8 UNSOLVABLE_INCOMPLETELY=3

# ====== Engine exited before making any conclusion ====
# Search stopped before concluding SOLVED_OPTIMALLY or UNSOLVABLE_PROVEN
# If a plan was found, it might be reported in the `plan` field

# The engine ran out of time
uint8 TIMEOUT=13
# The engine ran out of memory
uint8 MEMOUT=14
# The engine faced an internal error.
uint8 INTERNAL_ERROR=15
# The problem submitted is not supported by the engine.
uint8 UNSUPPORTED_PROBLEM=16

# ====== Intermediate answer ======
# This Answer is an Intermediate Answer and not a Final one
uint8 INTERMEDIATE=17

uint8 status

# Optional. Best plan found if any.
up_msgs/Plan plan

# A set of engine specific values that can be reported, for instance
# - "grounding-time": "10ms"
# - "expanded-states": "1290"
string[] metric_names
string[] metric_values

# Optional log messages about the engine's activity.
# Note that it should not be expected that logging messages are visible to the end user.
# If used in conjunction with INTERNAL_ERROR or UNSUPPORTED_PROBLEM, it would be expected to have at least one log message at the ERROR level.
up_msgs/LogMessage[] log_messages

# Synthetic description of the engine that generated this message.
string engine_name

result type: up_msgs.msg.PlanOneShotResult

bool success
string message

PlanOneShotRemoteAction

This action takes in input a problem name which should be known by the running up4ros node and tries to use one of the registered planners to produce a solution in the feedback. The result will tell us if the planner managed or not to find a solution. The action assumes that the user has used the services described below to set up at run time a problem to be solved by the planners.

Goal type: up_msgs.msg.PlanRequestRemote

string problem

uint8 SATISFIABLE=0
uint8 SOLVED_OPTIMALLY=1
uint8 resolution_mode

# Max allowed runtime time in seconds.
float64 timeout

# Engine specific options to be passed to the engine
string engine_option_names
string engine_option_values

feedback type: up_msgs.msg.PlanGenerationResult

## Message sent by engine.
## Contains the engine exit status as well as the best plan found if any.


# ==== Engine stopped normally ======

# Valid plan found
# The `plan` field must be set.
uint8 SOLVED_SATISFICING=0
# Plan found with optimality guarantee
# The `plan` field must be set and contains an optimal solution.
uint8 SOLVED_OPTIMALLY=1
# No plan exists
uint8 UNSOLVABLE_PROVEN=2
# The engine was not able to find a solution but does not give any guarantee that none exist
# (i.e. the engine might not be complete)
uint8 UNSOLVABLE_INCOMPLETELY=3

# ====== Engine exited before making any conclusion ====
# Search stopped before concluding SOLVED_OPTIMALLY or UNSOLVABLE_PROVEN
# If a plan was found, it might be reported in the `plan` field

# The engine ran out of time
uint8 TIMEOUT=13
# The engine ran out of memory
uint8 MEMOUT=14
# The engine faced an internal error.
uint8 INTERNAL_ERROR=15
# The problem submitted is not supported by the engine.
uint8 UNSUPPORTED_PROBLEM=16

# ====== Intermediate answer ======
# This Answer is an Intermediate Answer and not a Final one
uint8 INTERMEDIATE=17

uint8 status

# Optional. Best plan found if any.
up_msgs/Plan plan

# A set of engine specific values that can be reported, for instance
# - "grounding-time": "10ms"
# - "expanded-states": "1290"
string[] metric_names
string[] metric_values

# Optional log messages about the engine's activity.
# Note that it should not be expected that logging messages are visible to the end user.
# If used in conjunction with INTERNAL_ERROR or UNSUPPORTED_PROBLEM, it would be expected to have at least one log message at the ERROR level.
up_msgs/LogMessage[] log_messages

# Synthetic description of the engine that generated this message.
string engine_name

result type: up_msgs.msg.PlanOneShotRemoteResult

bool success
string message

Services

Services are used to handle and manage planning problems interactively at runtime. In particular, the up4ros node exposes the following services:

AddAction

This service adds an action to a currently defined domain. The service is defined as:

string problem_name
up_msgs/Action action
---
bool success
string message

where the action is defined as:

## Unified action representation that represents any kind of actions.

# Action name. E.g. "move"
string name

# Typed and named parameters of the action.
up_msgs/Parameter[] parameters

# If set, the action is durative. Otherwise it is instantaneous.
# features: DURATIVE_ACTIONS
up_msgs/Duration[] duration

# Conjunction of conditions that must hold for the action to be applicable.
up_msgs/Condition[] conditions

# Conjunction of effects as a result of applying this action.
up_msgs/Effect[] effects

AddFluent

This service adds a fluent to one of the problems known to the node. The service is defined as:

string problem_name
up_msgs/Fluent fluent
up_msgs/Expression default_value
---
bool success
string message

where a fluent is defined as:

## A state-dependent variable.
string name
# Return type of the fluent.
string value_type
# Typed and named parameters of the fluent.
up_msgs/Parameter[] parameters

# If non-empty, then any state variable using this fluent that is not explicitly given a value in the initial state
# will be assumed to have this default value.
# This allows mimicking the closed world assumption by setting a "false" default value to predicates.
# Note that in the initial state of the problem message, it is assumed that all default values are set.
up_msgs/Expression[] default_value

while an expression is defined as:

up_msgs/ExpressionItem[] expressions
uint8[] level

AddGoal

This service adds a new goal to one of the problems known by the node. The service is defined as:

string problem_name
up_msgs/Goal[] goal
up_msgs/GoalWithCost[] goal_with_cost
---
bool success
string message

where a goal is defined as:

## A Goal is currently an expression that must hold either:
## - in the final state,
## - over a specific temporal interval (under the `timed_goals` features)

# Goal expression that must hold in the final state.
up_msgs/Expression goal

# Optional. If specified the goal should hold over the specified temporal interval (instead of on the final state).
# features: TIMED_GOALS
up_msgs/TimeInterval[] timing

and a goal with cost is defined as:

## Represents a goal associated with a cost, used to define oversubscription planning.

# Goal expression
up_msgs/Expression goal
# The cost
up_msgs/Real cost

AddObject

This service adds a new object to one of the problems known by the node. The service is defined as:

string problem_name
up_msgs/ObjectDeclaration object
---
bool success
string message

where an object is defined as:

## Declares an object with the given name and type.

# Name of the object.
string name
# Type of the object.
# The type must have been previously declared in the problem definition.
string type

GetProblem

Retrieves ones of the problems known by the node. The service is defined as:

string problem_name
---
up_msgs/Problem problem
bool success
string message

where a problem is defined as:

string domain_name
string problem_name
up_msgs/TypeDeclaration[] types
up_msgs/Fluent[] fluents
up_msgs/ObjectDeclaration[] objects

# List of actions in the domain.
up_msgs/Action[] actions

# Initial state, including default values of state variables.
up_msgs/Assignment[] initial_state

# Facts and effects that are expected to occur strictly later than the initial state.
# features: TIMED_EFFECT
up_msgs/TimedEffect[] timed_effects

# Goals of the planning problem.
up_msgs/Goal[] goals

# The plan quality metrics
up_msgs/Metric[] metrics


# If the problem is hierarchical, defines the tasks and methods as well as the initial task network.
# features: hierarchical
up_msgs/Hierarchy[] hierarchy

# all features of the problem
uint8[] features

## Features of the problem.
## Features are essential in that not supporting a feature `X` should allow disregarding any field tagged with `features: [X]`.

# PROBLEM_CLASS
uint8 ACTION_BASED=0
uint8 HIERARCHICAL=26
# PROBLEM_TYPE
uint8 SIMPLE_NUMERIC_PLANNING=30
uint8 GENERAL_NUMERIC_PLANNING=31
# TIME
uint8 CONTINUOUS_TIME=1
uint8 DISCRETE_TIME=2
uint8 INTERMEDIATE_CONDITIONS_AND_EFFECTS=3
uint8 TIMED_EFFECT=4
uint8 TIMED_GOALS=5
uint8 DURATION_INEQUALITIES=6
# EXPRESSION_DURATION
uint8 STATIC_FLUENTS_IN_DURATIONS=27
uint8 FLUENTS_IN_DURATIONS=28
# NUMBERS
uint8 CONTINUOUS_NUMBERS=7
uint8 DISCRETE_NUMBERS=8
uint8 BOUNDED_TYPES=38
# CONDITIONS_KIND
uint8 NEGATIVE_CONDITIONS=9
uint8 DISJUNCTIVE_CONDITIONS=10
uint8 EQUALITIES=11
uint8 EXISTENTIAL_CONDITIONS=12
uint8 UNIVERSAL_CONDITIONS=13
# EFFECTS_KIND
uint8 CONDITIONAL_EFFECTS=14
uint8 INCREASE_EFFECTS=15
uint8 DECREASE_EFFECTS=16
uint8 STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS=41
uint8 STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS=42
uint8 FLUENTS_IN_BOOLEAN_ASSIGNMENTS=43
uint8 FLUENTS_IN_NUMERIC_ASSIGNMENTS=44
# TYPING
uint8 FLAT_TYPING=17
uint8 HIERARCHICAL_TYPING=18
# FLUENTS_TYPE
uint8 NUMERIC_FLUENTS=19
uint8 OBJECT_FLUENTS=20
# QUALITY_METRICS
uint8 ACTIONS_COST=21
uint8 FINAL_VALUE=22
uint8 MAKESPAN=23
uint8 PLAN_LENGTH=24
uint8 OVERSUBSCRIPTION=29
# ACTION_COST_KIND
uint8 STATIC_FLUENTS_IN_ACTIONS_COST=45
uint8 FLUENTS_IN_ACTIONS_COST=46
# SIMULATED_ENTITIES
uint8 SIMULATED_EFFECTS=25

NewProblem

This service adds a new problem name to the list of problems known by the node. The service is defined as:

string problem_name
---
bool success
string message

PDDLPlanOneShot

Service equivalent to the PDDLPlanOneShotAction described above. The service is defined as:

up_msgs/PDDLPlanRequest plan_request
---
up_msgs/PlanGenerationResult plan_result
bool success
string message

SetInitialValue

This service adds a new initial value to one expression of one of the problems known by the node. The service is defined as:

string problem_name
up_msgs/Expression expression
up_msgs/Expression value
---
bool success
string message

where an expression is defined as:

up_msgs/ExpressionItem[] expressions
uint8[] level

SetProblem

This service adds a completely defined new problem to the list of problems known by the node. The service is defined as:

string problem_name
up_msgs/Problem problem
---
bool success
string message

where a problem is defined as:

string domain_name
string problem_name
up_msgs/TypeDeclaration[] types
up_msgs/Fluent[] fluents
up_msgs/ObjectDeclaration[] objects

# List of actions in the domain.
up_msgs/Action[] actions

# Initial state, including default values of state variables.
up_msgs/Assignment[] initial_state

# Facts and effects that are expected to occur strictly later than the initial state.
# features: TIMED_EFFECT
up_msgs/TimedEffect[] timed_effects

# Goals of the planning problem.
up_msgs/Goal[] goals

# The plan quality metrics
up_msgs/Metric[] metrics


# If the problem is hierarchical, defines the tasks and methods as well as the initial task network.
# features: hierarchical
up_msgs/Hierarchy[] hierarchy

# all features of the problem
uint8[] features

## Features of the problem.
## Features are essential in that not supporting a feature `X` should allow disregarding any field tagged with `features: [X]`.

# PROBLEM_CLASS
uint8 ACTION_BASED=0
uint8 HIERARCHICAL=26
# PROBLEM_TYPE
uint8 SIMPLE_NUMERIC_PLANNING=30
uint8 GENERAL_NUMERIC_PLANNING=31
# TIME
uint8 CONTINUOUS_TIME=1
uint8 DISCRETE_TIME=2
uint8 INTERMEDIATE_CONDITIONS_AND_EFFECTS=3
uint8 TIMED_EFFECT=4
uint8 TIMED_GOALS=5
uint8 DURATION_INEQUALITIES=6
# EXPRESSION_DURATION
uint8 STATIC_FLUENTS_IN_DURATIONS=27
uint8 FLUENTS_IN_DURATIONS=28
# NUMBERS
uint8 CONTINUOUS_NUMBERS=7
uint8 DISCRETE_NUMBERS=8
uint8 BOUNDED_TYPES=38
# CONDITIONS_KIND
uint8 NEGATIVE_CONDITIONS=9
uint8 DISJUNCTIVE_CONDITIONS=10
uint8 EQUALITIES=11
uint8 EXISTENTIAL_CONDITIONS=12
uint8 UNIVERSAL_CONDITIONS=13
# EFFECTS_KIND
uint8 CONDITIONAL_EFFECTS=14
uint8 INCREASE_EFFECTS=15
uint8 DECREASE_EFFECTS=16
uint8 STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS=41
uint8 STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS=42
uint8 FLUENTS_IN_BOOLEAN_ASSIGNMENTS=43
uint8 FLUENTS_IN_NUMERIC_ASSIGNMENTS=44
# TYPING
uint8 FLAT_TYPING=17
uint8 HIERARCHICAL_TYPING=18
# FLUENTS_TYPE
uint8 NUMERIC_FLUENTS=19
uint8 OBJECT_FLUENTS=20
# QUALITY_METRICS
uint8 ACTIONS_COST=21
uint8 FINAL_VALUE=22
uint8 MAKESPAN=23
uint8 PLAN_LENGTH=24
uint8 OVERSUBSCRIPTION=29
# ACTION_COST_KIND
uint8 STATIC_FLUENTS_IN_ACTIONS_COST=45
uint8 FLUENTS_IN_ACTIONS_COST=46
# SIMULATED_ENTITIES
uint8 SIMULATED_EFFECTS=25