def get_bot_location(self):
real_bot_location = ""
bot_locations = kb.list_predicates("robot-at")
for bot_location in bot_locations:
if not bot_location.is_negative:
real_bot_location = bot_location.values[1].value
return real_bot_location
def go_to_init_location(self):
"""
Query the Knowledge base for finding the initial location, and move to this position
"""
robot_loc = kb.list_predicates("robot-at")
real_bot_location = "kitchen"
for bot_location in robot_loc:
if not bot_location.is_negative:
real_bot_location = bot_location.values[1].value
self.move_robot(None, real_bot_location)
def main():
kb.initialize()
print("Predicates ---")
for predicate in kb.list_predicates():
print("[" + str(predicate) + "]")
print("\nInstances ---")
print(str(kb.list_instances()) + "\n")
for instance in kb.list_instances():
print("[" + str(instance) + ", " +
str(kb.get_instance_type(instance)) + "]")
print("\nGoals ---")
for goal in kb.list_goals():
print("[" + str(goal) + "]")
#!/usr/bin/env python
import rosplan_pytools.controller.knowledge_base as kb
import rospy
import rosplan_pytools.common.utils as pytools_utils
if __name__ == "__main__":
rospy.init_node("loud_noise_task_generator")
kb.initialize(prefix="/rosplan_knowledge_base")
while not rospy.is_shutdown():
respond = False
loud_noise_predicates = kb.list_predicates("loud-volume")
for loud_noise_pred in loud_noise_predicates:
if not loud_noise_pred.is_negative:
respond = True
if respond and len(kb.list_goals()) == 0:
goal = pytools_utils.predicate_maker("asked-all-good",
["person", "subject"],
["personbert", "general"])
kb.add_goal(goal)
rospy.loginfo("Goal posted")
pytools_utils.plan_and_execute()
print("planning done")
kb.remove_goal(goal)
goal.is_negative = True
kb.add_predicate(goal)
rospy.sleep(60 * 5)
rospy.sleep(5.)
#!/usr/bin/env python
import rosplan_pytools.controller.knowledge_base as kb
import rospy
import rosplan_pytools.common.utils as pytools_utils
if __name__ == "__main__":
rospy.init_node("kitchen_helping_task_generator")
kb.initialize(prefix="/rosplan_knowledge_base")
while not rospy.is_shutdown():
respond = False
person = ""
kitchen_predicates = kb.list_predicates("person-cooking")
for kitchen_person in kitchen_predicates:
if not kitchen_person.is_negative:
respond = True
person = kitchen_person.values[0].value
if respond:
goal = pytools_utils.predicate_maker("asked-all-good",
["person", "topic"],
[person, "kitchenhelping"])
kb.add_goal(goal)
rospy.loginfo("Goal posted")
pytools_utils.plan_and_execute()
print("planning done")
# Reset goal
kb.remove_goal(goal)
goal.is_negative = True
kb.add_predicate(goal)
rospy.sleep(60 * 5)
rospy.sleep(5.)
#!/usr/bin/env python
import rosplan_pytools.controller.knowledge_base as kb
import rospy
import rosplan_pytools.common.utils as pytools_utils
if __name__ == "__main__":
rospy.init_node("doorbell_task_generator")
# This task generator will set the to open the goal to open the door
kb.initialize(prefix="/rosplan_knowledge_base")
while not rospy.is_shutdown():
respond = False
dog = ""
doorbells = kb.list_predicates("doorbell-ringing")
for doorbell in doorbells:
if not doorbell.is_negative:
respond = True
if respond and len(kb.list_goals()) == 0:
goal = pytools_utils.predicate_maker("opened-door", "robot",
"pepper")
kb.add_goal(goal)
rospy.loginfo("Goal posted")
pytools_utils.plan_and_execute()
print("planning done")
kb.remove_goal(goal)
goal.is_negative = True
kb.add_predicate(goal)
rospy.sleep(40)
rospy.sleep(5.)
#!/usr/bin/env python
import rosplan_pytools.controller.knowledge_base as kb
import rospy
import rosplan_pytools.common.utils as pytools_utils
if __name__=="__main__":
rospy.init_node("dog_task_generator")
kb.initialize(prefix="/rosplan_knowledge_base")
while not rospy.is_shutdown():
respond = False
dog = ""
barking_predicates = kb.list_predicates("dog-barking")
for barking_predicate in barking_predicates:
if not barking_predicate.is_negative:
respond = True
dog = barking_predicate.values[0].value
if respond and len(kb.list_goals()) == 0:
goal = pytools_utils.predicate_maker("dog-interaction", ["robot", "dog"], ["pepper", dog])
kb.add_goal(goal)
rospy.loginfo("Goal posted")
pytools_utils.plan_and_execute()
print("planning done")
kb.remove_goal(goal)
goal.is_negative = True
kb.add_predicate(goal)
rospy.sleep(60*5)
rospy.sleep(5.)
#!/usr/bin/env python
import rosplan_pytools.controller.knowledge_base as kb
import rospy
import rosplan_pytools.common.utils as pytools_utils
if __name__ == "__main__":
rospy.init_node("music_task_generator")
kb.initialize(prefix="/rosplan_knowledge_base")
while not rospy.is_shutdown():
respond = False
loud_noise_predicates = kb.list_predicates("hectic-environment")
for loud_noise_pred in loud_noise_predicates:
if not loud_noise_pred.is_negative:
respond = True
if respond and len(kb.list_goals()) == 0:
goal = pytools_utils.predicate_maker("music-played", ["robot"],
["pepper"])
kb.add_goal(goal)
rospy.loginfo("Goal posted")
pytools_utils.plan_and_execute()
print("planning done")
kb.remove_goal(goal)
goal.is_negative = True
kb.add_predicate(goal)
rospy.sleep(60 * 5)
rospy.sleep(5.)