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addressed modification in planner #127

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Merged
fincatomarta merged 2 commits into from
Mar 6, 2026
Merged

addressed modification in planner #127

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5079ea6
addressed odification in planner
ste93 Mar 3, 2026
7d6fa8f
Modified application to have dummy narrate
fincatomarta Mar 6, 2026
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9 changes: 9 additions & 0 deletions launch/applications/convince_bt_skills.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -310,13 +310,22 @@
<workdir />
<node>bt</node>
</module>

<module>
<name>ros2_dummy_action</name>
<parameters>run dummy_action dummy_action --skill_name NarratePoi --default_status SUCCESS</parameters>
<workdir />
<node>opt</node>
</module>

<module>
<name>ros2_dummy_condition</name>
<parameters>run dummy_condition dummy_condition --skill_name AlwaysSuccess --default_status SUCCESS</parameters>
<workdir />
<node>bt</node>
</module>



<module>
<name>ros2_say_skip_questions_skill</name>
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25 changes: 13 additions & 12 deletions src/components/planner_component/planner_component/PlannerComponent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,12 @@
import rclpy
from rclpy.action import ActionServer, GoalResponse, CancelResponse
from rclpy.node import Node
from congestion_coverage_plan_museum.mdp.MDP import MDP, State
from congestion_coverage_plan_museum.map_utils.OccupancyMap import OccupancyMap
from congestion_coverage_plan_museum.cliff_predictor.PredictorCreator import create_generic_cliff_predictor
from congestion_coverage_plan_museum.bt_utils.BTWriter import BTWriter
from congestion_coverage_plan_museum.detections_retriever.DetectionsRetriever import DetectionsRetriever
from congestion_coverage_plan_museum.solver.LrtdpTvmaAlgorithm import LrtdpTvmaAlgorithm
from congestion_coverage_plan.mdp.MDP import MDP, State
from congestion_coverage_plan.map_utils.OccupancyMap import OccupancyMap
from congestion_coverage_plan.cliff_predictor.PredictorCreator import create_generic_cliff_predictor
from congestion_coverage_plan.bt_utils.BTWriter import BTWriter
from congestion_coverage_plan.detections_retriever.DetectionsRetriever import DetectionsRetriever
from congestion_coverage_plan.solver.LrtdpTvmaAlgorithm import LrtdpTvmaAlgorithm
from planner_interfaces.action import Plan
from blackboard_interfaces.srv import GetIntBlackboard
import sys
Expand Down Expand Up @@ -249,14 +249,16 @@ def plan(self, goal_handle):
lrtdp = LrtdpTvmaAlgorithm(occupancy_map=occupancy_map,
initial_state_name=current_state.get_vertex(),
convergence_threshold=self._convergence_threshold,
time_bound_real=self._time_bound_real,
planner_time_bound=self._time_bound_lrtdp,
planning_time_bound=self._time_bound_real,
solution_time_bound=self._time_bound_lrtdp,
time_for_occupancies=self._time_for_occupancies,
time_start=self._start_time,
wait_time=self._wait_time,
explain_time=self._explain_time,
heuristic_function="madama_experiments",
initial_state=current_state)
initial_state=current_state,
is_museum_experiment=True
)


self.get_logger().info("Calling LRTDP solve...")
Expand All @@ -277,7 +279,7 @@ def plan(self, goal_handle):
self.get_logger().error(f"Error during LRTDP solve: {e}")
self.get_logger().error(traceback.format_exc())
raise
policy = lrtdp.policy
policy = lrtdp.get_policy_to_execute()
self.get_logger().info(f"After Policy LRTDP...")
if result is None:
self.get_logger().error('No plan found.')
Expand Down Expand Up @@ -309,13 +311,12 @@ def plan(self, goal_handle):




def iterate_over_policy(self, policy, current_state):
self.get_logger().info("Iterating over policy...")
state = current_state
sequence_of_pois = []
# pois_already_done = current_state.get_pois_done()
while state is not None:
while str(state) in policy.keys() :
self.get_logger().info(f"Current state: {state}")
action = policy[str(state)][2] # get action
self.get_logger().info(f"Action: {action}")
Expand Down