Setting up TFD planner

[Ben Brumback]

Hey everyone,

I am having a hard time setting up the TFD planner to interface with rosplan. In the tutorial it makes it sound like all I need to do is change the interface in planner_interface.launch from popf to tfd. It seems like I should have the tfd-src directory in the rosplan_planning_system/common/bin directory. The planner interface page in the tutorial doesnt mention this but it also seems like you need to change the planner_command parameter to point to the plan.sh script in the tfd-src directory.

From this point, I believe that rosplan isnt passing the domain and problem files. The reason I think this is the case, is the plan script will only run if it is passed 3 arguments. If I remove this check and hard code the arguments and I run via rosplan I get a strange python error saying it cant find a file (Im not really sure what file its referring too). The launch file that I am running just launches the interfaced_planning_systems.launch file with arguments that point to my domain and problem files.

To make matters even more confusing, I know that the planner is running correctly. And if I run the plan.sh script everything works correctly, with or without the hard coded arguments.

Could anyone give me some pointers on how to set up this supported planner within rosplan?

Thanks for the help!
Ben