Dear community,
At some point, I would like to integrate planner9 [1,2], my HTN planner,
into ROS. At that occasion, it would be nice if planner9's node could
conform to a standard HTN-planner interface. I have been looking for one
but did not found any. Currently planner9 can distribute search on
multiple nodes using avahi and be called using D-Bus. The interface to
D-Bus could be a source of inspiration (at least it works for me), here
is a rosmsged version:
* HTN/Atom.msg:
String relation
uint32[] params
String value
* HTN/State.msg:
Atom[] atoms
* HTN/Task.msg:
String head
uint32[] params
* HTN/Plan.msg:
Task[] actions
* HTN/StartPlanning.msg:
String[] constants # for debug output
State initial_state
Task task # task to do
* HTN/PlanningSucceeded:
Plan plan
uint32 total_iteration_count
* HTN/PlanningFailed:
uint32 total_iteration_count
These messages assume:
* constants are represented by integers
* relations are represented by strings
* values are represented by strings
* the goal is specified as a task
* the planner node has a description of the planning domain, and only
problems are specified dynamically.
What do you think? Are there people interested in such interface? Should
we make a REP?
Kind regards,
Stéphane
[1]
http://gitorious.org/planner9
[2]
http://tinyurl.com/planner9-paper
--
Dr Stéphane Magnenat
http://stephane.magnenat.net
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