plansys2_support_py.ExecutorClient module

PlanSys2 Executor Client.

This module provides specific classes for interacting with PlanSys2 Executor services.

class plansys2_support_py.ExecutorClient.ExecutorClient(*args: Any, **kwargs: Any)

Bases: Node

Executor client for PlanSys2.

This class provides convenient methods to interact with all Executor services in PlanSys2, wrapping the ROS2 service calls with proper error handling.

execute_plan(plan: plansys2_msgs.msg.Plan | None = None, verbose: bool = True, rate_hz: float = 5.0) → bool

Execute a plan using the executor action client.

This method executes the provided plan (or computes a new plan if not provided) and monitors its execution, displaying feedback if verbose is enabled.

Parameters

planOptional[Plan], optional

The plan to execute. If None, computes a new plan from the current domain and problem.

verbosebool, optional

Whether to print execution feedback to the console.

rate_hzfloat, optional

Update rate in Hz for checking execution status.

Returns

bool

True if plan execution succeeded, False otherwise.

get_ordered_sub_goals() → List[plansys2_msgs.msg.Tree] | None

Get the ordered sub-goals from the executor.

This method retrieves the list of sub-goals that the executor has identified for achieving the current problem goal, ordered by execution priority.

Returns

Optional[List[Tree]]

List of sub-goals as Tree objects, or None if failed.

get_plan() → plansys2_msgs.msg.Plan | None

Get the current plan from the executor.

This method retrieves the complete plan that the executor is currently working on.

Returns

Optional[Plan]

The current plan or None if failed.

get_remaining_plan() → plansys2_msgs.msg.Plan | None

Get the remaining plan from the executor.

This method retrieves the portion of the plan that has not yet been executed, which is useful for monitoring progress or handling plan modifications.

Returns

Optional[Plan]

The remaining plan or None if failed.

print_executor_info() → None

Print comprehensive information about the executor state.

Notes

Call multiple services to provide an overview of the executor’s current status, including ordered sub-goals, current plan, and remaining plan.