Configuration

This section covers the small set of settings most users actually touch.

Core launch arguments

Use kea_planner_core/launch/kea_core_planner.launch.py.

domain_file (required): PDDL domain file path.
problem (required): PDDL problem file path or inline “set” format.
agent_type: baseline-0, baseline-1, baseline-llm, or kea-agent.
llm_config_file: LLM profile YAML (see below).
vlm_config_file: VLM profile YAML (see below).
auto_start: true to start immediately, false to wait for /start_problem_execution.
sim: true to simulate VLM output (no real inference).

Example:

ros2 launch kea_planner_core kea_core_planner.launch.py \
  domain_file:=/path/to/domain.pddl \
  problem:=/path/to/problem.pddl \
  agent_type:=kea-agent

Moleworks adds action_params_file (choose from kea_examples/kea_moleworks/params/) and defaults sim:=true. Rock Breaking uses only the core arguments.

LLM/VLM profiles

Profiles live under kea_planner_core/params and are selected with llm_config_file and vlm_config_file.

Minimum fields:

provider: ollama, openai, or gemini.
model: provider-specific model name.
endpoint: base URL (empty means provider default).
config: JSON string passed to the provider client.

VLM profiles also include:

image_topic: image topic suffix (subscribed as /<robot>/<image_topic>).

If you use hosted providers, set API keys as described in Installation.

Problem input format

problem accepts either a PDDL file path or inline “set” commands:

set instance r1 robot
set instance c1 cell
set predicate (at r1 c1)
set goal (and (visited c1))

A goal is required, and predicates must match your domain.

Start problems on demand

If you launch with auto_start:=false, trigger execution with:

ros2 service call /start_problem_execution kea_msgs/srv/StartProblemExecution "{problem: '/path/to/problem.pddl'}"

Plan solver plugins

The default planner is POPF (configured in kea_planner_core/params/plansys2_params.yaml). agent_type:=baseline-llm switches to the LLM solver. You can also override with a custom params_file.