Constants specified in the domain not considered by the problem expert

[roveri-marco]

If one specifies constants in the domain file, then one is expecting that the constants could be used to specify the problem by e.g. using them as parameter of the predicates in the initial state and in the goal. However, from the terminal if one try to define a predicate that uses a constant, then the problem expert complain that the constant is not known and then it fails in properly defining the problem.

In attach there is a variant of the simple_example that shows this wrong behavior.

ros2 launch assignment_3_5 plansys2_simple_example_launch.py on terminal one
ros2 run plansys2_terminal plansys2_terminal
then in the terminal execute the command
source assignment_3_5/launch/commands

then you'll get the following error

ERROR] [1673988746.444606492] [problem_expert_client]: /problem_expert/add_problem_predicate: Predicate [(capacity c1 capacity_4)] not valid
Could not add the predicate [(capacity c1 capacity_4)]
[ERROR] [1673988746.449234899] [problem_expert_client]: /problem_expert/add_problem_predicate: Predicate [(capacity_succ capacity_4 capacity_3)] not valid
Could not add the predicate [(capacity_succ capacity_4 capacity_3)]

assignment_3_5.zip