Mechanism to load problem pddl files

[paucarre]

Thanks for the example and all the work in PlanSys2 !

I'd like to know if there is a way to load directly upon launch the problem pddl to the problem expert node. Namely, load to the problem expert node one of the files: cooking_problem_0.pddl, .., cooking_problem_3.pddl

As far as I see, the problem expert node launch requires the domain pddl, which seems to configure the domain expert.
Is there any way the problem expert node can directly load the problem pddl directly using a configuration parameter upon launch?

Side question: as the domain expert gets domain pddl in its launch configuration, shouldn't the problem expert node just get the problem pddl as configuration and rely on the domain expert configured domain pddl?

[fmrico]

Hi @paucarre

Your question is really interesting. It would be very useful to init the knowledge from a problem pddl, or even from a YAML file. In my examples, I use the controllers (executables that use the problem_expert client to insert knowledge).

If you want to work on that and prepare a PR, I can guide and help you.

Thanks for using PlanSys2 :)