Plansys2 UPF Plugin

This repository contains the plugin for PlanSys2 that uses the unified-planning (UP) as a solver. There are two ROS 2 packages:

1. upf_solver: Contains a ROS 2 node that, given the domain and problem files in .pddl format and the path to save the plan, loads the domain/problem and saves the found solution.
2. plansys2_upf_plan_solver: Contains the actual plugin for PlanSys2.

Installation

To install the plugin, follow these steps:

1. Clone the repository (in workspace src):

   git clone https://github.com/JRL-CARI-CNR-UNIBS/plansys2_upf_plugin.git

2. If you have not yet installed plansys2 (in workspace src):

   vcs import < plansys2_upf_plugin/dependencies.repos

3. Install dependencies using rosdep (in workspace level):

   rosdep install --from-paths src --ignore-src -r -y

4. Install Python dependencies (in workspace src):

   pip install -r plansys2_upf_plugin/upf_solver/requirements.txt

5. Build the packages (in workspace level):

   colcon build --symlink-install

Packages

upf_solver

The upf_solver package contains a ROS 2 node that performs the following tasks:

• Inputs:
  • Domain and problem files in .pddl format.
  • Path where the plan should be saved.
• Functionality:
  • Loads the domain and problem.
  • Computes the plan using UPF.
  • Saves the found solution to the specified path. Example:

To use the upf_solver node, you need to start it with appropriate parameters. Example usage:

ros2 run upf_solver upf_solver --ros-args -p solver:='tamer' -p domain_path:='{$DOMAIN_PATH.PDDL}' -p problem_path:='{$PROBLEM_PATH.PDDL}' -p output_plan_path:='OUTPUT_PLAN.PDDL'

plansys2_upf_plan_solver

The plansys2_upf_plan_solver package contains the PlanSys2 plugin that integrates the UPF solver. This plugin allows PlanSys2 to use UPF as a planning solver.

⚠️ When using the plugin for plansys first verify that the domain file and pddl problem used is formatted correctly (using ros2 run upf_solver ...).

To configure PlanSys2 to use the UPF plugin, set the following parameters in your plansys2_bringup or planner node configuration file:

Configuration

To use this plugin in PlanSys2, set the following parameters in the plansys2_bringup or the planner node configuration:

planner:
  ros__parameters:
    plan_solver_timeout: 15.0  # Adjust as needed
    plan_solver_plugins: ["UPF"]
    UPF:
      plugin: "plansys2/UPFPlanSolver"
      solver: "tamer" # tamer is by default (can be avoided the arg in that case), but there are others like "lpg"