Feature: loading knowledge and problem dynamically

[robodrome]

I would like to be able to load knowledge and problems more dynamically. I read your (@fmrico) comment about this here.

I think this is a must-have feature for robots that operate in more dynamic environments with - constantly - changing world states. I am right or am I missing something? Is this already possible right now?

[fmrico]

I think this could be very interesting. Take into account that loading a new domain needs to clean the problem expert content. Maybe we should do this via changing the lifecycle state of both modules active->inactive->unconfigured->inactive->active

[robodrome]

Yes, probably something like that. And some kind of trigger mechanism.

• Perhaps domain and problem topics that receives pddl files. When a new pddl file is pushed, lifecycle is changed accordingly.
• When this happens the solver will generate a new plan automatically.

Perhaps it is better not to load the pddl's at launch at all and use topics in stead. Or am I overlooking something?