Executor

The Executor module is responsible for requesting a plan to the Planner, and carry it out, calling to the nodes in the client application that implements the actions. While executing each action, it checks the requisites (At Start, At End and Over all, in case of durative Actions). If the requirements are not meet, it cancels the plan execution. It also is responsible for applying the effects of the actions, requesting updates to the Problem Expert.

The main class of Executor is plansys2::ExecutorNode, which is instantiated from executor_node.cpp.

The executions of plans are carried out using ROS2 actions, in particular, plansys2_msgs::action::ExecutePlan. Take note that the goal must be already in the Domain Expert.

ExecutorNode ask for the domain and problem, and ask for a plan to the Planner. For each action in the plan, ExecuterNode creates a plansys2::ActionExecutor. The lifetime of this object is only one action. This object calls the actions implemented in the client appliciation using the ROS2 actions plansys2_msgs::action::ExecuteAction. Each client action implementation can use the class plansys2::ActionExecutorClient to avoid the complexity of managing ROS2 actions.

Using the feedback information from plansys2_msgs::action::ExecuteAction, feedback for plansys2::ExecutorNode is composed and returned to plansys2::ExecutorClient. It contains the current action in the plan and the progress in the currently executing action.

Next graph shows an example of the execution flow:

Actions:

• /execute_plan [plansys2_msgs::action::ExecutePlan]

(in ActionExecutorClient)

• /${ACTION_NAME}[plansys2_msgs::action::ExecuteAction]

Services:

• /executor/get_ordered_sub_goals [plansys2_msgs::srv::GetOrderedSubGoals]

Subscribed topics:

(in ActionExecutor)

• /problem_expert/update_notify [std_msgs::msg::Empty]

Parameters:

(in ExecutorNode)

• ~/action_timeouts/actions [list of strings]

  • List of actions which have duration overrun percentages specified.

• ~/action_timeouts/[ACTION_NAME]/duration_overrun_percentage [double]

  • Defines the allowable time overrun of an action based on a percentage of the predicted plan duration. For example, if the plan predicts that an action should take 1000 secs and a duration overrun percentage of 20% is specified, then the action should be halted if the actual duration exceeds 1200 secs.

executor:
  ros__parameters:
    action_timeouts:
      actions: ["move"]
      move:
        duration_overrun_percentage: 20.0

Changelog for package plansys2_executor

2.0.8 (2022-05-04)

2.0.7 (2022-05-04)

2.0.6 (2022-05-03)

2.0.5 (2022-05-03)

2.0.4 (2022-05-03)

• Fix version
• Merge pull request #223 from IntelligentRoboticsLabs/fix_threads_buildfarm Fix threads buildfarm
• Fix ROS2 Buildfarm error due to Threads
• Merge pull request #217 from jjzapf/check-action-finished Check action finished
• check-action-finished: Putting leftover requirement check after state update in get_graph function.
• check-action-finished: Use distinct names for temporary predicate/function variables inside of while loop.
• check-action-finished: Reverting previous changes. Adding checks to WaitAction node to verify that action has finished.
• check-action-finished: Fixing problem_expert.wait_overall_req_test in plansys2_executor/bt_node_test.cpp.
• check-action-finished: Do not declare failure in check_overall_req_node if action has already finished.
• Merge pull request #209 from sarcasticnature/master Improvements on recent BtActionNode changes
• Merge pull request #216 from jjzapf/action-graph-bug-fix Plan-to-Action Graph Bug Fix
• action-graph-bug-fix: Not applying at end effects when testing if actions can be run in parallel. Fixing bug in prune_backwards function.
• Update unit tests to match changes
• Remove extra do_work() call in on_activate() do_work() may call the function finish(), which will fail to deactivate the node if it is still in the on_activate callback.
• Merge branch 'IntelligentRoboticsLabs:master' into master
• Merge pull request #208 from xydesa/plan-dotgraph-bug Plan dotgraph color bug
• Merge branch 'IntelligentRoboticsLabs:master' into master
• Removing unused variable.
• More accurately getting the status of an action by including the action's start time in the index for coloring the dotgraph.
• Contributors: Alexander Xydes, Francisco Martín Rico, Jake Keller, Josh Zapf

2.0.3 (2022-04-03)

2.0.2 (2022-04-03)

• Use apply and check method to create action graph
• plan-to-action-graph-mod: Using apply and check method to search for causal links.
• generalize-is-parallelizable: Cleaning up comments a bit.
• generalize-is-parallelizable: Checking for contradictions at any point in time in the is_parallelizable function.
• generalize-is-parallelizable: Improving human readability.
• generalize-is-parallelizable: Applying ament uncrustify.
• generalize-is-parallelizable: Generalizing the is_parallelizable function in BTBuilder so that the functions will also be checked.
• action-graph-test: Adding unit test to verify action graph generation.
• action-graph-fix: Using std::list to create action graph rather than …
• action-graph-fix: Shortening line lengths to <100 characters. Applying ament uncrustify.
• action-graph-fix: Checking for existing link before adding one when creating action graph.
• Check all reqs and effect for roots
• action-graph-fix: Setting executor_test TIMEOUT value to 300.
• Add options to run command in plansys2 Terminal
• Change runtime failures to BT::NodeStatus::FAILURE, add logging info to ExecutorClient
• Add options to run command
• action-graph-fix: Using std::list to create action graph rather than std::set. A std::set does not maintain insertion order, whereas a std::list does. Maintaining insertion order guarantees that graph traversal follows the same path as graph creation.
• action-graph-test: Adding unit test to verify action graph generation.
• Add Status recency in performers
• Remove unnecessary node pointer
• Merge branch 'IntelligentRoboticsLabs:master' into master
• Logger tool - performers and plan
• Logger tool - knowledge, info and action hub
• Elevate failure logging from INFO to WARN/ERROR
• Add action failure details to ExecutorClient
• Contributors: Francisco Martín Rico, Jake Keller, Josh Zapf

2.0.1 (2022-02-03)

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