Planner Call should be blocking
Calling the planner twice on the same time generates a problem:
[WARN] [1677515350.263294]: New Plan Request
[WARN] [1677515350.269405]: New Plan Request
Traceback
Traceback (most recent call last):
File "/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/downward/fast-downward.py", line 5, in <module>
main()
File "/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/downward/driver/main.py", line 44, in main
os.remove(args.sas_file)
FileNotFoundError: [Errno 2] No such file or directory: 'output.sas'
[ERROR] [1677515351.117164]: Error processing request: Command '['python3', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/downward/fast-downward.py', '--alias', 'lama-first', '--plan-file', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/plan.txt', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/domain.pddl', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/problem.pddl']' returned non-zero exit status 1.
['Traceback (most recent call last):\n', ' File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 633, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/src/ros_planning/ros_planning_node.py", line 51, in callPlanner\n subprocess.run(cmd).check_returncode()\n', ' File "/usr/lib/python3.8/subprocess.py", line 448, in check_returncode\n raise CalledProcessError(self.returncode, self.args, self.stdout,\n', "subprocess.CalledProcessError: Command '['python3', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/downward/fast-downward.py', '--alias', 'lama-first', '--plan-file', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/plan.txt', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/domain.pddl', '/home/belal/ros1_ws/pacbot_ws/src/decision_making_pacbot/ros_planning/model/problem.pddl']' returned non-zero exit status 1.\n"]
Edited by Belal Hmedan