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

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 trees.
• Update version
• Contributors: Francisco Martín Rico, Josh Zapf

1.0.9 (2021-03-15)

1.0.8 (2021-03-12)

• Update API for FutureReturnCode
• Add support for numeric conditions and effects.
• minor tipo
• Contributors: Fabrice Larribe, Francisco Martin Rico, Josh Zapf

1.0.7 (2021-01-04)

• Making explicit dependencies

* Contributors: Francisco Martín Rico 1.0.6 (2020-12-29) ------------------* Disable boost functions * Contributors: Francisco Martín Rico 1.0.5 (2020-12-28) ------------------* Migration to c++17 * Contributors: Francisco Martín Rico

1.0.4 (2020-12-24)

1.0.3 (2020-12-23)

• Default plugin as library

* Contributors: Francisco Martín Rico 1.0.2 (2020-12-23) ------------------* Plan solvers as plugins * Contributors: Fabrice Larribe, Francisco Martin Rico, f269858

1.0.1 (2020-07-19)

1.0.0 (2020-07-19)

• Foxy initial version
• Contributors: Francisco Martin Rico

0.0.8 (2020-07-18)

• Boost:optional
• Contributors: Francisco Martin Rico

0.0.7 (2020-03-26)

• Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>

* Contributors: Francisco Martín Rico 0.0.6 (2020-03-23) ------------------* Run in separate namespaces. Monolothic node Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Set distro to eloquent, and activate disabled tests Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>> * Contributors: Francisco Martin Rico

0.0.5 (2020-01-12)

0.0.4 (2020-01-09)

• Adding missing action dependencies Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>

* Contributors: Francisco Martín Rico 0.0.3 (2020-01-09) ------------------

0.0.2 (2020-01-08)

• Merge pull request #16 from IntelligentRoboticsLabs/pddl_parser_rename Rename pddl_parser
• Rename pddl_parser Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Merge pull request #15 from IntelligentRoboticsLabs/example_rename Rename example. Small bug in timeouts
• Rename example. Small bug in timeouts Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Packages.xml description Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Adding documentation Signed-off-by: Francisco Martin Rico <<fmartin@gsyc.urjc.es>>
• Setting CI Signed-off-by: Francisco Martin Rico

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