Allows for thinner wrapping of ROS Actions while still supporting
logical translation style from LogicalNavigation
Remove "n-1" from Clingo interface due to new modeling

Co-authored-by: Yuqian Jiang <[email protected]>

Wrong parameter passing would cause actions to not be registered with
their logical name
Remove dependency on bwi_logical_translator

Co-authored-by: Yuqian Jiang <[email protected]>

Changes to plan_execution have altered the action executor
interface, so we'll eventually have to do some updates here

Support empty rule bodies in goal query (i.e., a query that passes a fact)
Don't timestamp facts in the head of a goal query

Co-authored-by: Yuqian Jiang <[email protected]>

Avoid transforming entire pointclouds
Move perception code to libbwi_perception
Make directories for library code

Spread code out amongst a few more headers for clarity
Initial refactoring of horizontal plane extraction

Fix bug with isGoalReached in BlindActionExecutor

Some moving of functions

Fix run result return

Change NULL to nullptr
Change throw() to noexcept
Use sharedptrs for actions, as they have the most delicate lifecycle

Flip filter sign. We want the slice, not the rest of the cloud
Set frame name correctly

Tweak interfaces to support additional arguments

This is used by plan executor to re-sense the robot's location upon receiving a new goal.

Co-authored-by: Yuqian Jiang <[email protected]>

Move all knowledge of parameters and name into subclasses
Handle failed state

Update to match Clingo 4.5.1 behavior concerning incmode

Print more information when failing to instantiate executors

Co-authored-by: Nick Walker <[email protected]>

Extend ExecutionObserver with plan termination event
Add python fluent msg helpers

Co-authored-by: Yuqian Jiang <[email protected]>

Support a standardized wrapping for Smach state machines wrapped as
action servers
Tighten up RosAction interface
Avoid run loop architecture for RosActions, and prefer
goal construction and finished callbacks

for the purpose of storing groceries

Ported from RoboCup
Move plan execution ros wrapper up into plan execution
to facilitate code reuse between BWI and villa
Move observers up to plan execution to facilitate reuse
Refactor bwi_kr plan execution node to use the new shared wrapper
Drop some bwi_kr_execution nodes that will be obsolete once
knowledge_representation integration is done
Commented out some actions that depend on logical translation updates
Update bwi_kr_execution to use new LogicalNavigation superclass
Update LogicalAction type

Co-authored-by: Yuqian Jiang <[email protected]>

Visit door list works again

Fix populate_with_map and goal formulator

* Create main.yml

* Update main.yml

adds rosdep pull

* Update main.yml

* updates

* updates

* updates

* updates

* updates

* missing definition

* missing definition