Merge branch 'master' into online_dispatcher

.travis.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    uri: 'https://github.com/clearpathrobotics/occupancy_grid_utils.git'
+    local-name: occupancy_grid_utils
+    version: indigo-devel

.travis.yml

@@ -0,0 +1,28 @@
+sudo: required
+dist: xenial
+language: generic
+
+env:
+  global:
+    - ROS_DISTRO=kinetic
+    - UPSTREAM-WORKSPACE=file
+    - ROSINSTALL_FILENAME=.travis.rosinstall
+    - WRITABLE_SOURCE=true
+
+before_install:
+    - bash ./.travis/wait_for_apt.sh
+    - sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv 2930ADAE8CAF5059EE73BB4B58712A2291FA4AD5
+    - echo "deb [ arch=amd64,arm64 ] https://repo.mongodb.org/apt/ubuntu xenial/mongodb-org/3.6 multiverse" | sudo tee /etc/apt/sources.list.d/mongodb-org-3.6.list
+    - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+    - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    - sudo apt-get update
+    - sudo apt-get install libcurl3
+    - sudo apt-get install -y mongodb-server mongodb
+    - sudo apt-get install flex bison ros-kinetic-mongodb-store ros-kinetic-tf2-bullet freeglut3-dev
+    - git clone https://github.com/clearpathrobotics/occupancy_grid_utils
+    - git submodule update --init --remote --recursive
+
+install:
+  - git clone --depth=1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
+script:
+  - .industrial_ci/travis.sh

.travis/wait_for_apt.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+ while sleep 1; do
+     if [ $(pgrep apt | wc -l) -lt 1 ] ; then
+         echo "apt process done"
+         break
+     else
+         echo "apt process has not done yet"
+     fi
+ done

README.md

@@ -1,5 +1,6 @@
 ROSPlan Framework
 =================
+[![Build Status](https://travis-ci.com/KCL-Planning/ROSPlan.svg?branch=master)](https://travis-ci.com/KCL-Planning/ROSPlan)
 
 The main ROSPlan website and documentation is available here:
 http://kcl-planning.github.io/ROSPlan/

rosplan_dependencies/package.xml

@@ -12,6 +12,9 @@
 
   <exec_depend>roscpp</exec_depend>
 
+  <build_depend>flex</build_depend>
+  <build_depend>bison</build_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
   </export>

rosplan_knowledge_base/src/KnowledgeBase.cpp

@@ -583,7 +583,7 @@ int main(int argc, char **argv) {
         ROS_INFO("KCL: (%s) Starting a RDDL Knowledge Base", ros::this_node::getName().c_str());
     }
     else {
-        ROS_ERROR("KCL: (%s) Unexpected domain file extension %s", ros::this_node::getName().c_str(), extension.c_str());
+        ROS_ERROR("KCL: (%s) Unexpected domain file extension %s (expected PDDL/RDDL)", ros::this_node::getName().c_str(), extension.c_str());
         ros::shutdown();
     }
 

rosplan_knowledge_base/src/KnowledgeComparitor.cpp

@@ -137,8 +137,7 @@ namespace KCL_rosplan {
 
 		case rosplan_knowledge_msgs::KnowledgeItem::FUNCTION:
 
-			// check function value
-			if(a.function_value != b.function_value) return false;
+ 			// compare functions (use _inequalityTrue_ to check function values)
 
 		// check function or fact label and parameters all match
 		case rosplan_knowledge_msgs::KnowledgeItem::FACT:

rosplan_planning_system/src/ProblemGeneration/ProblemInterface.cpp

@@ -41,7 +41,7 @@ namespace KCL_rosplan {
 				ROS_WARN("KCL: (%s) Unexpected planning language %s. Please specify the planning language as either \"PDDL\" or \"RDDL\".",
 						  ros::this_node::getName().c_str(), planning_lang.c_str());
 			}
-		} // If roblem path is specified, it'll overwrite the setting from the planning_lang parameter.
+		} // If problem path is specified, it'll overwrite the setting from the planning_lang parameter.
         if (not problem_path.empty()) {
             std::string extension = (problem_path.size() > 5) ? problem_path.substr(problem_path.find_last_of('.')) : "";
             if (extension == ".pddl" or extension == ".ppddl") pg_type = KCL_rosplan::ProblemGeneratorFactory::PDDL;

rosplan_rqt/src/rosplan_rqt/ROSPlanEsterelPlanViewer.py

@@ -19,13 +19,16 @@
 from python_qt_binding import loadUi, QT_BINDING_VERSION
 from python_qt_binding.QtCore import Qt, QUrl, pyqtSignal, QRectF, QByteArray
 from python_qt_binding.QtSvg import QGraphicsSvgItem
-from python_qt_binding.QtWebKit import QGraphicsWebView
 
 if QT_BINDING_VERSION.startswith('4'):
     from python_qt_binding.QtGui import  QWidget, QGraphicsScene, QGraphicsItem, QGraphicsEllipseItem
     from python_qt_binding.QtSvg import  QGraphicsSvgItem, QSvgRenderer
+    from python_qt_binding.QtWebKit import QGraphicsWebView
 else:
     from python_qt_binding.QtWidgets import QWidget
+    from python_qt_binding.QtWebKitWidgets import QGraphicsWebView
+    from python_qt_binding.QtWidgets import QGraphicsScene
+    from python_qt_binding.QtSvg import QSvgRenderer
 
 class EsterelPlanViewerWidget(QWidget):