Planner

The Planner module is responsible for creating plans. It delegates them to plan solver plugins. By default it uses Kairos, a temporal and numeric PDDL planner that runs as a library inside the node (plansys2_kairos_plan_solver). POPF is still available as a plugin (plansys2_popf_plan_solver).

The main class is plansys2::PlannerNode, which is instantiated from planner_node.cpp. plansys2::PlannerNode is a also rclcpp_lifecycle::LifecycleNode, but currently the functionality is in the active phase.

Plan solvers are specified in the plan_solver_plugins parameter. In case of more than one specified, the first one will be used. If this parameter is not specified, Kairos will be used by default. To use POPF instead:

planner:
  ros__parameters:
    plan_solver_plugins: ["POPF"]
    POPF:
      plugin: "plansys2/POPFPlanSolver"

Services

• /planner/get_plan [plansys2_msgs::srv::GetPlan]

Changelog for package plansys2_planner

4.0.0 (2026-10-21)

• One version for Humble, Jazzy, Kilted and Lyrical (#509)
• Robust PlanSys2: one node per component, clients that wait, retry and see a lost plan (#507)
• Execute everything Kairos plans: conditional effects, durations, timed literals, object fluents, recursive derived predicates, PDDL+ and constraints (#504)
• Fixes in the executor, the build, the tests and the CI (#502)
• Kairos plan solver, and Kairos as the default planner (#465)
• Tests discover only nodes on this host (#455)
• Replace the deprecated EventsExecutor with SingleThreadedExecutor (#452)
• Planner node: solver errors reported, no exit on a bad plugin, real timeouts, meaningful error_info (#443)
• Do not let solvers keep the planner and domain expert nodes alive (#423)
• Contributors: Francisco Martín Rico

3.1.0 (2026-07-28)

• Fix deprecated get_share_directory
• Deprecate BTAction with rate. Fix all warnings
• Fix test
• Add default
• Set C++23 as default
• Doc for planner
• Contributors: Alberto Tudela, Eshan Savla, Francisco Martín Rico, Gustavo, Gustavo Rezende

3.0.0 (2025-06-06)

• Modify export target. Rename metapackage
• Revamp CMake and clean unused headers
• Update install
• Move pluginlib
• Remove unused dependencies
• Update CMakeLists to manage dependencies more efficiently in various packages.
• Update CI adding BT.CPP as source dependecy
• Fix deprecation of ament_target_dependencies
• Multiple plans and replanning stability
• Remove OPTIC from tests
• Linting and fixing tests
• Planner Plugins can be cancelled. Plan timeout effective.
• Improve stability in Executor
• Service and logic for get multiple plans
• Change to EventsExecutor
• 🎨 linter for plansys2_pddl_parser
• Add parameter for timeout of plan solver
• Integrated feedback, and fixes to have tests to pass
• Fix CI after BT-CPP v4
• Added support for configuring the planner timeout
• Remove cmake warning
• Add option to use planner node to validate domain in domain expert
• Spin up temporary node for domain validation
• Add option to use planner node to validate domain in domain expert
• Fix goal structure issue 205
• Minor changes to the tests to comply with some change in the generated output
• Contributors: Alberto Tudela, Francisco Martín Rico, Gustavo, Josh Zapf, Marco Roveri, Robodrome, Sebastian Castro, Splinter1984

2.0.9 (2022-07-10)

• Humble Upgrade
• Fix possible bug https://github.com/ros2/rclcpp/issues/1968
• Contributors: Francisco Martín Rico

2.0.8 (2022-05-04)

2.0.7 (2022-05-04)

2.0.6 (2022-05-03)

2.0.5 (2022-05-03)

• Fix ROS2 Buildfarm error due to Threads
• Contributors: Francisco Martín Rico

2.0.4 (2022-05-03)

• Fix version
• Fix ROS2 Buildfarm error due to Threads
• Contributors: Francisco Martín Rico

2.0.3 (2022-04-03)

2.0.2 (2022-04-03)

• test constants and problem file generation

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