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

2.0.15 (2024-12-03)

2.0.14 (2024-11-14)

2.0.13 (2024-11-06)

• Change to EventsExecutor
• Contributors: Francisco Martín Rico

2.0.12 (2024-10-16)

• Integrated feedback, and fixes to have tests to pass
• Added support for configuring the planner timeout
• Spin up temporary node for domain validation
• Add option to use planner node to validate domain in domain expert
• Minor changes to the tests to comply with some change in the generated output
• Contributors: 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 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 <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• First version of planner complete Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Contributors: Francisco Martin Rico