<commit_before><?xml version="1.0"?>
<launch>

	<!-- data paths -->
	<param name="/rosplan/data_path" value="$(find rosplan_planning_system)/common/" />
	<param name="/rosplan/planner_path" value="$(find rosplan_planning_system)/common/bin/" />

	<!-- domain file -->
	<param name="/rosplan/domain_path" value="$(find rosplan_demos)/common/domain_turtlebot.pddl" />

	<!-- knowledge base -->
	<node name="rosplan_knowledge_base" pkg="rosplan_knowledge_base" type="knowledgeBase" respawn="false" output="screen">
	    <param name="database_path" value="$(find rosplan_knowledge_base)/common/mongoDB/" />
		<!-- conditional planning flags -->
		<param name="use_unknowns" value="False" />
	</node>

	<!-- scene database (MongoDB) -->
	<node name="rosplan_scene_database" pkg="mongodb_store" type="mongodb_server.py" respawn="false" output="log">
		<param name="database_path" value="$(find rosplan_knowledge_base)common/mongoDB" />
	</node>
	<node name="rosplan_scene_message_store" pkg="mongodb_store" type="message_store_node.py" respawn="false" output="log" />

	<!-- planning system -->
	<node name="rosplan_planning_system" pkg="rosplan_planning_system" type="planner" respawn="false" output="screen">
		<!-- directory for generated files -->
		<param name="data_path" value="$(find rosplan_planning_system)/common/" />
		<param name="problem_path" value="$(find rosplan_planning_system)/common/problem.pddl" />
		<param name="strl_file_path" value="$(find rosplan_planning_system)/common/plan.strl" />

		<!-- to run the planner -->
		<param name="planner_command" value="timeout 10 $(find rosplan_planning_system)/common/bin/popf -n DOMAIN PROBLEM" />
		<param name="generate_default_problem" value="true" />
		<param name="max_dispatch_attempts" value="2" />
	</node>

	<!-- interfaces -->
	<include file="$(find rosplan_interface_mapping)/launch/rosplan_roadmap_server.launch" />

	<node name="rosplan_interface_movebase" pkg="rosplan_interface_movebase" type="rpmovebase" respawn="false" output="screen">
		<param name="action_server" value="/move_base" />
		<param name="pddl_action_name" value="goto_waypoint" />
	</node>
</launch><commit_msg>Update interfaced_planning_system.launch<commit_after><?xml version="1.0"?>
<launch>

	<!-- data paths -->
	<param name="/rosplan/data_path" value="$(find rosplan_planning_system)/common/" />
	<param name="/rosplan/planner_path" value="$(find rosplan_planning_system)/common/bin/" />

	<!-- domain file -->
	<param name="/rosplan/domain_path" value="$(find rosplan_demos)/common/domain_turtlebot.pddl" />

	<!-- knowledge base -->
	<node name="rosplan_knowledge_base" pkg="rosplan_knowledge_base" type="knowledgeBase" respawn="false" output="screen">
	    <param name="database_path" value="$(find rosplan_knowledge_base)/common/mongoDB/" />
		<!-- conditional planning flags -->
		<param name="use_unknowns" value="False" />
	</node>

	<!-- scene database (MongoDB) -->
	<node name="rosplan_scene_database" pkg="mongodb_store" type="mongodb_server.py" respawn="false" output="log">
		<param name="database_path" value="$(find rosplan_knowledge_base)/common/mongoDB" />
	</node>
	<node name="rosplan_scene_message_store" pkg="mongodb_store" type="message_store_node.py" respawn="false" output="log" />

	<!-- planning system -->
	<node name="rosplan_planning_system" pkg="rosplan_planning_system" type="planner" respawn="false" output="screen">
		<!-- directory for generated files -->
		<param name="data_path" value="$(find rosplan_planning_system)/common/" />
		<param name="problem_path" value="$(find rosplan_planning_system)/common/problem.pddl" />
		<param name="strl_file_path" value="$(find rosplan_planning_system)/common/plan.strl" />

		<!-- to run the planner -->
		<param name="planner_command" value="timeout 10 $(find rosplan_planning_system)/common/bin/popf -n DOMAIN PROBLEM" />
		<param name="generate_default_problem" value="true" />
		<param name="max_dispatch_attempts" value="2" />
	</node>

	<!-- interfaces -->
	<include file="$(find rosplan_interface_mapping)/launch/rosplan_roadmap_server.launch" />

	<node name="rosplan_interface_movebase" pkg="rosplan_interface_movebase" type="rpmovebase" respawn="false" output="screen">
		<param name="action_server" value="/move_base" />
		<param name="pddl_action_name" value="goto_waypoint" />
	</node>
</launch>
{'fraction_non_alphanumeric': 0.17443470235348407, 'fraction_numerical': 0.0023073373327180432, 'mean_word_length': 6.0602605863192185, 'pattern_counts': {'":': 0, '<': 75, '<?xml version=': 2, '>': 75, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '5526936', 'n_tokens_mistral': 1528, 'n_tokens_neox': 1410, 'n_words': 240}