Add new demos, hierarchical problem conversion, and test updates

[igonzf]

Scope

Addition of new demos, test updates, and hierarchical problem conversion functions for UPF4ROS2.

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Description

New demos included in upf4ros2_demo:

• Demo 1: Creates a problem from the living room to the entrance using a ROS 2 node.
• Demo 1 (PDDL file): Defines the same problem using a PDDL domain and problem file.
• Demo 1 (Command Line): Allows the problem to be created via a shell script.
• Demo 2: Uses a simulated TIAGo robot to create and solve a problem for moving from the living room to the entrance.
• Demo 3: Uses a simulated TIAGo robot to create and solve a problem for checking a list of waypoints starting in the living room, including replanning when waypoints are unreachable.

New features and fixes:

• Created functions for hierarchical problem conversion:

  • _convert_decomposition: Processes the decomposition of tasks in hierarchical problems.
  • _convert_schedule: Transforms solutions by extracting all activities, assigning decision variables, and managing parameters, start times, and end times of activities in hierarchical problems.
  • _convert_problem: Adapts hierarchical problems to upf_msgs problem.
  • _convert_hierarchical_plan: Converts hierarchical plans into a upf_msgs plan for execution.

• Variable name fixes:

  • Updated map_features variable names to align with recent changes in Unified Planning.

• Tests:

  • Fixed issues in test_upf4ros2 and tests for HierarchicalProblem.

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Pipeline

• Updated CI workflows to use ros-tooling/[email protected].

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Status

• All tests passed successfully.

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[fmrico]

@igonzf , échale un ojo al CI