Tokenize a command string using shell-like syntax. Parameters ---------- command : str The command strin

Get the plugin attributes. Returns ------- Dict[str, str] Dictionary of plugin attributes.

Check if a predicate exists. Parameters ---------- predicate : PlanSys2Node The predicate to check.

get the type corresponding to a string

Get the details of a specific durative action. Parameters ---------- action_name : str Name of the durat

Get the ordered sub-goals from the executor. This method retrieves the list of sub-goals that the executor has identified fo

Create a Node from an exists expression. Parameters ---------- exists : str The exists expression string

Create a Node from a predicate string. Parameters ---------- predicate : str The predicate string (e.g.,

Convert a plansys2_msgs.msg.Param to a dictionary. Parameters ---------- param : plansys2_msgs.msg.Param

Create a service client for the given service, call it and return the response. Parameters ---------- service_type :

Create a service client for the given service, call it and return the response. Parameters ---------- service_type :

Get the plugin type parameter for a given plugin name. Parameters ---------- plugin_name : str Name of t

Handle action hub messages. Parameters ---------- msg : ActionExecution Action execution message from th

Get the details of a specific action. Parameters ---------- action_name : str Name of the action.

Get the available actions in the domain. Returns ------- Optional[List[str]] List of action names or Non

Get the constants of a specific type. Parameters ---------- type_name : str The type name to get constan

Get the details of a specific derived predicate. Parameters ---------- predicate_name : str Name of the

Get the derived predicates in the domain. Returns ------- Optional[List[PlanSys2Node]] List of derived p

Get the durative actions in the domain. Returns ------- Optional[List[str]] List of durative action name

Get the details of a specific function. Parameters ---------- function_name : str Name of the function.

Get the functions in the domain. Returns ------- Optional[List[PlanSys2Node]] List of function nodes or

Get the name of the domain. Returns ------- Optional[str] The domain name or None if failed.

Get the details of a specific predicate. Parameters ---------- predicate_name : str Name of the predicat

Get the predicates in the domain. Returns ------- Optional[List[PlanSys2Node]] List of predicate nodes o

Get the valid types in the domain. Returns ------- Optional[List[str]] List of domain types or None if f

Get the details of an instance. Parameters ---------- instance : str The name of the instance to retriev

Check if the current problem goal is satisfied. Returns ------- Optional[bool]: True if satisfied, False if not, Non

Convert a Node to string representation. Parameters ---------- node : Node The Node message. Re

Convert a Param to string representation. Parameters ---------- param : Param The Param message.

parse the name of a domain or instance

print line and column

Print comprehensive information about the executor state. Notes ----- Call multiple services to provide an overview

* @brief Set the timeout for plan solvers. * * @param[in] solver_timeout The new timeout duration. */

Convert a plansys2_msgs.msg.Tree to a dictionary. The Tree message represents a PDDL construct as a tree structure composed

Validate the provided domain. Parameters ---------- domain : str The PDDL domain string. Return

Find all plugin.xml files in ROS2 packages. Parameters ---------- node : Node ROS2 node for logging.

Recursively parse expression and build tree. Parameters ---------- tree : Tree The tree being constructe

Remove operator keywords before the first parenthesis. Parameters ---------- expr : str The expression s

Convert AND node to string. Parameters ---------- tree : Tree The tree structure. node_id : int

Convert constant node to string. Parameters ---------- tree : Tree The tree structure. node_id :

Convert exists node to string. Parameters ---------- tree : Tree The tree structure. node_id : i

Convert expression node to string. Parameters ---------- tree : Tree The tree structure. node_id

Convert function node to string. Parameters ---------- tree : Tree The tree structure. node_id :

Convert function modifier node to string. Parameters ---------- tree : Tree The tree structure.

Convert NOT node to string. Parameters ---------- tree : Tree The tree structure. node_id : int

Convert number node to string. Parameters ---------- tree : Tree The tree structure. node_id : i

Convert OR node to string. Parameters ---------- tree : Tree The tree structure. node_id : int

Convert parameter node to string. Parameters ---------- tree : Tree The tree structure. node_id

Convert predicate node to string. Parameters ---------- tree : Tree The tree structure. node_id

add a predicate fluent to the initial state

Add a PDDL problem. Parameters ---------- problem : str The PDDL problem string. Returns

Add an instance to the problem. Parameters ---------- instance : Param The instance to add. Ret

Configure the plan solver with a lifecycle node and plugin name. Parameters ---------- lc_node : Node Th

Finish action execution. Parameters ---------- success : bool Whether action succeeded. completi