Planner

The Planner module is responsible for creating plans. By default, it uses popf, that is a PDDL solver.

This module is very simple, as its only task is calling the popf binary and parsing the result.

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, POPF will be used by default.

Services

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

Changelog for package plansys2_planner

3.0.2 (2025-12-16)

• Set C++23 as default
• Improve doxygen documentation
• Doc for planner
• Contributors: Alberto Tudela, Eshan Savla, Francisco Martín Rico, Gustavo, Gustavo Rezende

3.0.1 (2025-06-22)

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
• Contributors: Francisco Martín Rico, Jake Keller, Mostafa Gomaa

2.0.1 (2022-02-03)

• Update deprecated APIs in launchers and parameters
• Update launcher param names
• Contributors: Francisco Martín Rico

2.0.0 (2021-07-04)

• Solve statically parameter error
• Compile for ROS2 Galactic
• Contributors: Francisco Martín Rico, Jonatan Olofsson

1.0.10 (2021-07-03)

• Revert wrong directory move
• Remove node parameter in client constructors
• ros2-plan-msg: Passing plan to executor to add further separation between plan creation and plan execution.
• pddl-tree-messages: Using explicit specifier for single parameter constructors in plansys2_core/Types.hpp.
• pddl-tree-messages: Replacing user access function calls with shorter versions where possible.
• pddl-tree-messages: Updating addInstance and removeInstance calls to use helper classes.
• pddl-tree-messages: Using ROS messages to define the PDDL construct

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