Error on executor node: requirement not met #394
Description
I'm having an issue computing the behavior tree. After successfully generated the plan, when I try to execute plansys2 it returns this error: [executor_node-4] [ERROR] requirement not met: [(= (num_id_detected) (num_marker))]. The fact is that if i remove that part of the plan it works correctly even tho in the code there is (at start(= (num_photo_taken) (num_marker))) which is exactly the same instruction.
Ros version: jazzy
Ubuntu version: 24.04
Plansys2 installed with: sudo apt install ros-jazzy-plansys2-*
Plansys2 installed packages:
ros-jazzy-plansys2-bringup-dbgsym/noble,now 2.0.18-1noble.20251108.001318 amd64 [installed]
ros-jazzy-plansys2-bringup/noble,now 2.0.18-1noble.20251108.001318 amd64 [installed]
ros-jazzy-plansys2-bt-actions-dbgsym/noble,now 2.0.18-1noble.20251026.063040 amd64 [installed]
ros-jazzy-plansys2-bt-actions/noble,now 2.0.18-1noble.20251026.063040 amd64 [installed]
ros-jazzy-plansys2-core-dbgsym/noble,now 2.0.18-1noble.20251025.095353 amd64 [installed]
ros-jazzy-plansys2-core/noble,now 2.0.18-1noble.20251025.095353 amd64 [installed]
ros-jazzy-plansys2-domain-expert-dbgsym/noble,now 2.0.18-1noble.20251025.095845 amd64 [installed]
ros-jazzy-plansys2-domain-expert/noble,now 2.0.18-1noble.20251025.095845 amd64 [installed]
ros-jazzy-plansys2-executor-dbgsym/noble,now 2.0.18-1noble.20251026.062051 amd64 [installed]
ros-jazzy-plansys2-executor/noble,now 2.0.18-1noble.20251026.062051 amd64 [installed]
ros-jazzy-plansys2-lifecycle-manager-dbgsym/noble,now 2.0.18-1noble.20251025.100334 amd64 [installed]
ros-jazzy-plansys2-lifecycle-manager/noble,now 2.0.18-1noble.20251025.100334 amd64 [installed]
ros-jazzy-plansys2-msgs-dbgsym/noble,now 2.0.18-1noble.20251025.084418 amd64 [installed]
ros-jazzy-plansys2-msgs/noble,now 2.0.18-1noble.20251025.084418 amd64 [installed]
ros-jazzy-plansys2-pddl-parser-dbgsym/noble,now 2.0.18-1noble.20251025.085245 amd64 [installed]
ros-jazzy-plansys2-pddl-parser/noble,now 2.0.18-1noble.20251025.085245 amd64 [installed]
ros-jazzy-plansys2-planner-dbgsym/noble,now 2.0.18-1noble.20251025.100644 amd64 [installed]
ros-jazzy-plansys2-planner/noble,now 2.0.18-1noble.20251025.100644 amd64 [installed]
ros-jazzy-plansys2-popf-plan-solver-dbgsym/noble,now 2.0.18-1noble.20251025.095632 amd64 [installed]
ros-jazzy-plansys2-popf-plan-solver/noble,now 2.0.18-1noble.20251025.095632 amd64 [installed]
ros-jazzy-plansys2-problem-expert-dbgsym/noble,now 2.0.18-1noble.20251025.100157 amd64 [installed]
ros-jazzy-plansys2-problem-expert/noble,now 2.0.18-1noble.20251025.100157 amd64 [installed]
ros-jazzy-plansys2-support-py/noble,now 2.0.18-1noble.20251025.085245 amd64 [installed]
ros-jazzy-plansys2-terminal-dbgsym/noble,now 2.0.18-1noble.20251026.063054 amd64 [installed]
ros-jazzy-plansys2-terminal/noble,now 2.0.18-1noble.20251026.063054 amd64 [installed]
ros-jazzy-plansys2-tests/noble,now 2.0.18-1noble.20251026.063343 amd64 [installed]
ros-jazzy-plansys2-tools-dbgsym/noble,now 2.0.18-1noble.20251025.100657 amd64 [installed]
ros-jazzy-plansys2-tools/noble,now 2.0.18-1noble.20251025.100657 amd64 [installed]Domain:
(define (domain ass_domain)
(:requirements :strips :typing :durative-actions :fluents)
(:types
robot
point
marker
)
(:predicates
(robot_at ?r - robot ?p - point)
(marker_at ?m - marker ?p - point)
(is_next ?m1 ?m2 - marker)
(is_first ?m - marker)
(visited ?m - marker)
(unvisited ?m - marker)
(photo_taken ?m - marker)
(photo_untaken ?m - marker)
(robot_free ?r - robot)
(detecting ?r - robot)
(acquiring_imgs ?r - robot)
(is_base ?p - point)
)
(:functions
(state ?s - robot)
(num_id_detected)
(num_photo_taken)
(num_marker)
(marker_id ?m - marker)
)
(:durative-action detect_id
:parameters (?r - robot ?p1 ?p2 - point ?m - marker)
:duration ( = ?duration 5)
:condition (and
(at start(detecting ?r))
(over all(marker_at ?m ?p1))
(at start(unvisited ?m))
(at start(robot_at ?r ?p2))
(at start (robot_free ?r))
)
:effect (and
(at start(not(robot_free ?r)))
(at end(robot_free ?r))
(at end(robot_at ?r ?p1))
(at end(not(robot_at ?r ?p2)))
(at end(not(unvisited ?m)))
(at end(visited ?m))
(at end(increase (num_id_detected) 1))
)
)
(:durative-action change_to_acquire_state
:parameters (?r - robot)
:duration ( = ?duration 3)
:condition (and
(at start(detecting ?r))
(at start(robot_free ?r))
(at start(= (num_id_detected) (num_marker)))
)
:effect(and
(at end(not(detecting ?r)))
(at end(acquiring_imgs ?r))
(at start(not(robot_free ?r)))
(at end(robot_free ?r))
)
)
(:durative-action capture_first_img
:parameters (?r - robot ?p1 ?p2 - point ?m1 - marker)
:duration ( = ?duration 5)
:condition (and
(at start(photo_untaken ?m1))
(at start(is_first ?m1))
(at start(acquiring_imgs ?r))
(over all(marker_at ?m1 ?p1))
(at start(robot_at ?r ?p2))
(at start(robot_free ?r))
)
:effect (and
(at start(not(robot_free ?r)))
(at end(robot_free ?r))
(at end(robot_at ?r ?p1))
(at end(not (robot_at ?r ?p2)))
(at end(photo_taken ?m1))
(at end(not(photo_untaken ?m1)))
(at end(increase (num_photo_taken) 1))
)
)
(:durative-action capture_other_imgs
:parameters (?r - robot ?p1 ?p2 - point ?m1 ?m2 - marker)
:duration ( = ?duration 5)
:condition (and
(at start(photo_untaken ?m1))
(at start(is_next ?m1 ?m2))
(at start(photo_taken ?m2))
(at start(acquiring_imgs ?r))
(over all(marker_at ?m1 ?p1))
(at start(robot_at ?r ?p2))
(at start(robot_free ?r))
)
:effect (and
(at start(not(robot_free ?r)))
(at end(robot_free ?r))
(at end(robot_at ?r ?p1))
(at end(not (robot_at ?r ?p2)))
(at end(photo_taken ?m1))
(at end(not(photo_untaken ?m1)))
(at end(increase (num_photo_taken) 1))
)
)
(:durative-action return_to_base
:parameters (?r - robot ?base ?p - point)
:duration (= ?duration 7)
:condition (and
(at start(robot_free ?r))
(at start(is_base ?base))
(at start(robot_at ?r ?p))
(at start(= (num_photo_taken) (num_marker)))
)
:effect (and
(at start(not(robot_free ?r)))
(at end(robot_free ?r))
(at end(robot_at ?r ?base))
(at end(not(robot_at ?r ?p)))
)
)
)Problem:
(define
(problem ass_problem)
(:domain ass_domain)
(:objects
robot1 - robot
base p1 p2 p3 p4 - point
m1 m2 m3 m4 - marker
)
(:init
(= (num_marker) 4)
(robot_at robot1 base)
(robot_free robot1)
(detecting robot1)
(= (num_id_detected) 0)
(= (num_photo_taken) 0)
(= (marker_id m1) -1)
(= (marker_id m2) -1)
(= (marker_id m3) -1)
(= (marker_id m4) -1)
(is_base base)
(marker_at m1 p1)
(marker_at m2 p2)
(marker_at m3 p3)
(marker_at m4 p4)
(unvisited m1)
(unvisited m2)
(unvisited m3)
(unvisited m4)
(photo_untaken m1)
(photo_untaken m2)
(photo_untaken m3)
(photo_untaken m4)
(is_first m3)
(is_next m4 m3)
(is_next m1 m4)
(is_next m2 m1)
)
(:goal
( and
(photo_taken m1)
(photo_taken m2)
(photo_taken m3)
(photo_taken m4)
(robot_at robot1 base)
)
)
)Using the command:
ros2 run popf popf ass_domain.pddl ass_problem.pddlPlan obtained:
Constructing lookup tables: [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%] [110%]
Post filtering unreachable actions: [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%] [110%]
None of the ground temporal actions in this problem have been recognised as compression-safe
b (9.000 | 28.005)b (8.000 | 28.005)b (6.000 | 33.006)b (5.000 | 38.007)b (4.000 | 38.007)b (3.000 | 43.008)b (2.000 | 43.008)b (1.000 | 50.009);;;; Solution Found
; Time 0.00
0.000: (detect_id robot1 p4 base m4) [5.000]
5.001: (detect_id robot1 p1 p4 m1) [5.000]
10.002: (detect_id robot1 p3 p1 m3) [5.000]
15.003: (detect_id robot1 p2 p3 m2) [5.000]
20.004: (change_to_acquire_state robot1) [3.000]
23.005: (capture_first_img robot1 p3 p2 m3) [5.000]
28.006: (capture_other_imgs robot1 p4 p3 m4 m3) [5.000]
33.007: (capture_other_imgs robot1 p1 p4 m1 m4) [5.000]
38.008: (capture_other_imgs robot1 p2 p1 m2 m1) [5.000]
43.009: (return_to_base robot1 base p2) [7.000]