Newbie Question about SMT solvers and PDDL+

[Puj]

Hello,

I have a planning domain that includes events and processes (from PDDL+). I know that SMTPlan is able to handle this, but what about RosPlan? Also, I know I can do rosrun rosplan_planning_system popf DOMAIN PROBLEM to use the popf planner. To use the SMT planner, do I need to git clone and install SMTPlan prior to using it (rosrun rosplan_planning_system smt DOMAIN PROBLEM)? If I try this command now, it states that it cannot find an executable.

Thank you!

Puj.

 

[Michael Cashmore]

Hello Puj,

The command line passed to the planner interface is simply a normal command line. For example, you can use "echo 'hello world'" or "cat prepared_plan.txt" as the command line, instead of calling a planner. The command line is then executed just as a command typed into the terminal. The only special thing that is done is to replace the "DOMAIN" and "PROBLEM" strings with the paths to the domain and problem files.

For example, "rosrun rosplan_planning_system popf" uses ROS to find and run the binary file in the rosplan_planning_system package called popf. You can search those folders and find the binary there. You can execute that binary from the command line yourself, using "./popf" from the same directory. If a binary called "smt" is not in that package, then rosrun will not find it. You can move it there, or you can change the command line to run the planner directly (e.g., /path/to/smtplan/build/smtplan DOMAIN PROBLEM")

If you don't have SMTPlan then you will need to download and compile it.

Best regards,

Michael