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add controller

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This commit is contained in:
Splinter1984 2022-01-10 01:04:02 +08:00
parent 8c6b912e00
commit 085b3e2d4b
2 changed files with 39 additions and 32 deletions
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2
rasms_manipulator/launch/rasms_manipulation.launch.py
View file

@ -103,6 +103,6 @@ def generate_launch_description():
# Declare the launch options # Declare the launch options
ld.add_action(plansys2_cmd) ld.add_action(plansys2_cmd)
ld.add_action(move_1) ld.add_action(move_1)
# ld.add_action(transport_1_cmd) ld.add_action(transport_1_cmd)
return ld return ld

57
rasms_manipulator/src/rasms_controller_node.cpp
View file

@ -43,23 +43,6 @@ public:
executor_client_ = std::make_shared<plansys2::ExecutorClient>(); executor_client_ = std::make_shared<plansys2::ExecutorClient>();
init_knowledge(); init_knowledge();
auto domain = domain_expert_->getDomain();
auto problem = problem_expert_->getProblem();
auto plan = planner_client_->getPlan(domain, problem);
if (plan.has_value())
{
if (!executor_client_->start_plan_execution(plan.value()))
{
RCLCPP_ERROR(get_logger(), "Error starting a new plan (first)");
}
}
else
{
RCLCPP_ERROR_STREAM(
this->get_logger(), "Could not find plan to reach goal " << parser::pddl::toString(problem_expert_->getGoal()));
}
} }
void init_knowledge() void init_knowledge()
@ -68,7 +51,6 @@ public:
problem_expert_->addInstance(plansys2::Instance{"one", "zone"}); problem_expert_->addInstance(plansys2::Instance{"one", "zone"});
problem_expert_->addInstance(plansys2::Instance{"two", "zone"}); problem_expert_->addInstance(plansys2::Instance{"two", "zone"});
problem_expert_->addPredicate(plansys2::Predicate("(robot_at rasms one)")); problem_expert_->addPredicate(plansys2::Predicate("(robot_at rasms one)"));
problem_expert_->setGoal(plansys2::Goal("(and(robot_at rasms one two))"));
} }
std::string status_to_string(int8_t status) std::string status_to_string(int8_t status)
@ -98,9 +80,35 @@ public:
void step() void step()
{ {
if (!executor_client_->execute_and_check_plan()) problem_expert_->setGoal(plansys2::Goal("(and(robot_at rasms two))"));
auto domain = domain_expert_->getDomain();
auto problem = problem_expert_->getProblem();
auto plan = planner_client_->getPlan(domain, problem);
if (!plan.has_value()) {
std::cout << "Could not find plan to reach goal " <<
parser::pddl::toString(problem_expert_->getGoal()) << std::endl;
}
executor_client_->start_plan_execution(plan.value());
auto feedback = executor_client_->getFeedBack();
for (const auto & action_feedback : feedback.action_execution_status)
{ {
RCLCPP_INFO(get_logger(), "Done!"); std::cout << "[" << action_feedback.action << " " <<
action_feedback.completion * 100.0 << "%]";
}
std::cout << std::endl;
if (!executor_client_->execute_and_check_plan() && executor_client_->getResult())
{
if (executor_client_->getResult().value().success)
{
std::cout << "Successful finished " << std::endl;
}
} }
} }
@ -118,14 +126,13 @@ int main(int argc, char **argv)
node->init(); node->init();
rclcpp::Rate rate(1); rclcpp::Rate rate(5);
while (rclcpp::ok()) node->step();
{
rate.sleep(); rate.sleep();
rclcpp::spin_some(node->get_node_base_interface()); rclcpp::spin_some(node->get_node_base_interface());
node->step();
}
rate.sleep();
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;