Merge pull request #3 from igonzf/main

Create undefined UserType in problem

Author: fmrico

.github/workflows/main.yaml

@@ -23,8 +23,10 @@ jobs:
         os: [ubuntu-22.04]
       fail-fast: false
     steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
       - name: Install deps
-        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev pip
+        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev pip && pip install ConfigSpace && pip install typing_extensions==4.7.1 --upgrade
       - name: fix pytest name
         run: sudo ln -s /usr/bin/pytest-3 /usr/bin/pytest
       - name: Install unified planning from sources
@@ -41,33 +43,27 @@ jobs:
           python3 scripts/test_imports.py
           cd ..
           git clone https://github.com/aiplan4eu/up-tamer
-          cd up-tamer
-          git checkout ${{env.up_tamer_commit}}
-          cd .. 
           python3 -m pip install up-tamer/
           git clone https://github.com/aiplan4eu/up-pyperplan
-          cd up-pyperplan
-          git checkout ${{env.up_pyperplan_commit}}
-          cd ..
           python3 -m pip install up-pyperplan/
           pip install unified_planning[tamer]
-
       - name: Create custom repos
-        run: wget -O /tmp/all.repos https://raw.githubusercontent.com/PlanSys2/UPF4ROS2/main/upf.repos
+        run: cp upf.repos /tmp/all.repos
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.2.6
+        uses: ros-tooling/action-ros-ci@0.3.15
         with:
           package-name: upf4ros2 upf_msgs
           target-ros2-distro: humble
           vcs-repo-file-url: /tmp/all.repos
           colcon-defaults: |
             {
               "test": {
-                "parallel-workers" : 1
+                "parallel-workers" : 4
               }
             }
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/main/index.yaml
+          extra-args: "--event-handlers console_direct+ --return-code-on-test-failure"
       - name: Codecov
         uses: codecov/codecov-action@v1.2.1
         with:

README.md

@@ -1,11 +1,15 @@
 # UPF4ROS2
 
-This repository contains a UPF TSB for ROS 2
+[![main](https://github.com/igonzf/UPF4ROS2/actions/workflows/main.yaml/badge.svg)](https://github.com/igonzf/UPF4ROS2/actions/workflows/main.yaml)
+
+This repository integrates the Unified Planning Framework (UPF) into the ROS 2 ecosystem, providing a modular and standardized solution for automated planning in robotic systems. This project is part of the European initiative AIPlan4EU, which aims to develop automated planning tools that are accessible and applicable across different engineering domains.
 
 ## Install and building
 
 ```
 $ pip install --pre unified-planning[pyperplan,tamer]
+$ pip install ConfigSpace
+$ pip install typing_extensions==4.7.1 --upgrade
 $ cd <upf_workspace>
 $ cd src
 $ git clone https://github.com/PlanSys2/UPF4ROS2.git
@@ -15,6 +19,7 @@ $ colcon build --symlink-install
 ```
 
 ### Install UPF from sources
+
 ```
 $ cd src
 $ git clone https://github.com/aiplan4eu/unified-planning.git
@@ -53,26 +58,77 @@ $ cd unified-planning
 $ bash run_tests.sh
 ```
 
-
 ## Usage
 
 `$ ros2 launch  upf4ros2 upf4ros2.launch.py`
 
 ## Nodes
 
-* **upf4ros**
-  * Services:
-    * `/upf4ros2/add_action` `[upf_msgs/srv/AddAction]` 
-    * `/upf4ros2/add_fluent` `[upf_msgs/srv/AddFluent]` 
-    * `/upf4ros2/add_goal` `[upf_msgs/srv/AddGoal]` 
-    * `/upf4ros2/add_object` `[upf_msgs/srv/AddObject]` 
-    * `/upf4ros2/new_problem` [upf_msgs/srv/NewProblem]` 
-    * `/upf4ros2/set_initial_value` [upf_msgs/srv/SetInitialValue]` 
-    * `/upf4ros2/set_problem` [upf_msgs/srv/SetProblem]`
-  * Actions:
-    * `/upf4ros2/planOneShotPDDL` `[upf_msgs/action/PDDLPlanOneShot]` 
-    * `/upf4ros2/planOneShot` `[upf_msgs/action/PlanOneShot]` 
-    * `/upf4ros2/planOneShotRemote` `[upf_msgs/action/PlanOneShotRemote]` 
+- **upf4ros**
+  - Services:
+    - `/upf4ros2/add_action` `[upf_msgs/srv/AddAction]`
+    - `/upf4ros2/add_fluent` `[upf_msgs/srv/AddFluent]`
+    - `/upf4ros2/add_goal` `[upf_msgs/srv/AddGoal]`
+    - `/upf4ros2/add_object` `[upf_msgs/srv/AddObject]`
+    - `/upf4ros2/new_problem` [upf_msgs/srv/NewProblem]`
+    - `/upf4ros2/set_initial_value` [upf_msgs/srv/SetInitialValue]`
+    - `/upf4ros2/set_problem` [upf_msgs/srv/SetProblem]`
+  - Actions:
+    - `/upf4ros2/planOneShotPDDL` `[upf_msgs/action/PDDLPlanOneShot]`
+    - `/upf4ros2/planOneShot` `[upf_msgs/action/PlanOneShot]`
+    - `/upf4ros2/planOneShotRemote` `[upf_msgs/action/PlanOneShotRemote]`
+
+## Demo
+
+### [Demo 1](https://www.youtube.com/watch?v=fObz6H1DnXs)
+
+This demo consists of creating the problem from a ros2 node to navigate from living room to the entrance.
+
+`$ ros2 launch upf4ros2 upf4ros2.launch.py`
+
+`$ ros2 launch upf4ros2_demo upf4ros2_demo1.launch.py`
+
+### Demo 1 (pddl file)
+
+This demo consists of creating the problem from a pddl domain and problem file.
+
+`$ ros2 launch upf4ros2 upf4ros2.launch.py`
+
+`$ ros2 launch upf4ros2_demo upf4ros2_demo1_pddlfile.launch.py`
+
+### Demo 1 (bash)
+
+This demo consists of creating the problem from the command line. For easier use you can use the script in /upf4ros2_demo/resource/upf_problem.sh
+
+`$ ros2 launch upf4ros2 upf4ros2.launch.py`
+
+`$ ./upf_problem.sh`
+
+`$ ros2 launch upf4ros2_demo upf4ros2_demo1_bash.launch.py`
+
+### [Demo 2](https://www.youtube.com/watch?v=HJ46htSfPZY)
+
+This demo consists of creating the problem from a ROS 2 node to navigate from living room to the entrance.
+For run this demo I used the simulated TIAGo robot from this [repo](https://github.com/jmguerreroh/ros2_computer_vision)
+
+`$ ros2 launch upf4ros2 upf4ros2.launch.py`
+
+`$ ros2 launch upf4ros2_demo upf4ros2_demo2.launch.py`
+
+### Demo 3
+
+This demo consists of creating the problem from a ROS 2 node to navigate and check a list of waypoints starting from living room.
+For run this demo I used the simulated TIAGo robot from this [repo](https://github.com/jmguerreroh/ros2_computer_vision)
+
+`$ ros2 launch upf4ros2 upf4ros2.launch.py`
+
+`$ ros2 launch upf4ros2_demo upf4ros2_demo3.launch.py`
+
+There are two alternatives:
+
+- Regular case: Illustrated in this [video](https://youtu.be/2nKqxGYlHk8)
+
+- Replanning case: one of the waypoints is not reachable and it is necessary to replan. Illustrated in this [video](https://youtu.be/UJncg7GPCro)
 
 ## Acknowledgments
 

upf.repos

@@ -2,12 +2,20 @@ repositories:
   unified-planning:
     type: git
     url: https://github.com/aiplan4eu/unified-planning.git
-    version: main
+    version: master
   up-tamer:
     type: git
     url: https://github.com/aiplan4eu/up-tamer.git
-    version: 869e7ab06cf23c5541a47f46209159fd51d8021f
+    version: master
   up-pyperplan:
     type: git
     url: https://github.com/aiplan4eu/up-pyperplan.git
-    version: ac2b04d2d41c20b15f7c4143c19947f9704d1888
+    version: master
+  ros2_planning_system:
+    type: git
+    url: https://github.com/PlanSys2/ros2_planning_system.git
+    version: humble-devel
+  cascade_lifecycle:
+    type: git
+    url: https://github.com/fmrico/cascade_lifecycle.git
+    version: humble-devel

upf4ros2/setup.py

@@ -25,7 +25,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-          'upf4ros2_main = upf4ros2.upf4ros2_main:main'
+            'upf4ros2_main = upf4ros2.upf4ros2_main:main'
         ],
     },
 )