Plan-repair (2/3): omniplanner_repair_node with constraint merging via plugin#28
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Plan-repair (2/3): omniplanner_repair_node with constraint merging via plugin#28JY-HIM4U wants to merge 1 commit into
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…a plugin
Avoid duplicating register_plugin; let the plugin do the work.
- omniplanner_msgs: ConstraintList.msg for persistent ~/constraints topic
- omniplanner_node: small extension point — plan_handler calls
plugin.on_plan_compiled(plans, plan_dict) if defined. Plugins that
don't define it are unaffected.
- multirobot_ros: new MultiRobotPddlConstrainedPlannerRos plugin
- subscribes to ConstrainedPddlGoalMsg (from PR 1)
- merges persistent constraints from node.active_constraints with
per-message constraints into a PddlGoal.constraints list
- on_plan_compiled hook publishes per-robot visited POIs to
/<robot>/omniplanner_node/plan_visited_pois
- omniplanner_repair_node: thin OmniPlannerRos subclass — adds
~/constraints topic and active_constraints state. No register_plugin
override; no plan-handling duplication.
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Adds the omniplanner_repair_node and a constraint-aware plugin that consumes ConstrainedPddlGoalMsg. Persistent constraints flow in through ~/constraints; per-message constraints ride along with the goal. Both are merged into goal.constraints before grounding (the field added in PR 1).
This is 2 of 3 in a stacked series: