plansys2_support_py.PlannerClient module
PlanSys2 Planner Client.
This module provides specific classes for interacting with PlanSys2 services.
- class plansys2_support_py.PlannerClient.PlannerClient(*args: Any, **kwargs: Any)
Bases:
NodePlanner client for PlanSys2.
This class provides convenient methods to interact with all Planner services in PlanSys2, wrapping the ROS2 service calls with proper error handling.
- get_plan(domain: str, problem: str) plansys2_msgs.msg.Plan | None
Get a plan that will satisfy the provided domain and problem.
Parameters
- domainstr
The PDDL domain string.
- problemstr
The PDDL problem string.
Returns
- Optional[Plan]
The plan response or None if failed.
- get_plan_array(domain: str, problem: str) plansys2_msgs.srv.GetPlanArray | None
Get a plan array that will satisfy the provided domain and problem.
Parameters
- domainstr
The PDDL domain string.
- problemstr
The PDDL problem string.
Returns
- Optional[GetPlanArray]
The plan array response or None if failed.