plansys2_planner

This package contains the PDDL-based Planner module for the ROS2 Planning System

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README

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]