wiki:Projects/LabRPXLR2017/CLIPS-Executive-PDDL
Last modified 23 months ago Last modified on 12/08/17 10:29:09

Using the CLIPS Executive with PDDL

GIT Branches to use

  • core repository: common/current-clips-executive-pddl
  • fawkes-robotino repository: common/labrpxlr-visit-all-pddl

Task

As before, visit all machines on the field. In contrast to the last task, we now use a PDDL planner for creating the plan. Adapt your code to use the PDDL planner to visit all the machines of your team.

In a second step, we will start having failing goto actions. You will need to monitor for these failing actions and come up with some recovery behavior.

Running Hello World

You'll need to clone the core repository into a separate directory to avoid copying all configs to fawkes-robotino. You can do this with:

  1. cd ~
  2. git clone git@git.fawkesrobotics.org:fawkes.git
  3. cd fawkes
  4. git checkout -b clips-executive-pddl origin/thofmann/clips-executive-pddl
  5. make -j`nproc` -l`nproc` all gui
  6. If robot-memory does not load: in cfg/conf.d/robot-memory.yaml, change the port of the local instance from 27017 to 27027 (i.e., replace all 27017 by 27027)

To run the hello world domain:

  1. cd ~/fawkes
  2. Run
    ./bin/fawkes -d clips skiller flite  webview clips-webview mongodb robot-memory pddl-robot-memory clips_robot_memory pddl-planner clips-executive
    

Running the planner on your system

If you want to run the system on your own machine, you need to install fast-forward in addition to all the Fawkes dependencies. To do so:

  1. Enable the planner copr:
     # dnf copr enable thofmann/planner
    
  2. Install fast-forward
    # dnf install fast-forward