Get the current plan from the executor. This method retrieves the complete plan that the executor is currently working on.

Get the functions in the problem. Returns ------- Optional[List[PlanSys2Node]]: List of function names or None if fa

Get the goals in the problem as a PDDL string. Returns ------- Optional[str]: The goals string or None if failed.

Get the instances in the problem. Returns ------- Optional[List[Param]]: List of instance or None if failed.

Get the details of a predicate. Parameters ---------- predicate : str The name of the predicate to retri

Get the predicates in the problem. Returns ------- Optional[List[PlanSys2Node]]: List of predicate names or None if

Check whether the given string represents a valid constant in the model

Load a plugin by its ID. Parameters ---------- plugin_id : str The unique identifier of the plugin to lo

Clean up the node. Parameters ---------- state : LifecycleState The current lifecycle state. Re

Deactivate the node. Parameters ---------- state : LifecycleState The current lifecycle state.

Print comprehensive information about the domain. Notes ----- Call multiple services to provide an overview of the d

Send response message. Parameters ---------- msg : ActionExecution Original action execution message.

* @brief Default constructor. */

Print the final execution result. Parameters ---------- result The execution result from the action.

Add the goal represented by s to the Instance

add an object of a certain type

Add a function to the problem. Parameters ---------- function : PlanSys2Node The function to add.

Add a goal to the problem. Parameters ---------- goal : Tree The goal to add. Returns -

Add a predicate to the problem. Parameters ---------- predicate : PlanSys2Node The predicate to add.

Clear the instances, predicates, and functions. Returns ------- bool: True if successful, False otherwise.

Configure the solver.

Configure the test solver.

Discover all available plugins. Parameters ---------- node : Node ROS2 node for logging. Return

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

* @brief Get the timestamp of the last problem update. * * @return rclcpp::Time The timestamp when the problem was last updated. */

* @brief Get the completion percentage of the action. * * @return float Completion percentage (0.0 to 1.0). */

* @brief Get the list of parsed domains. * * @return std::vector<Domain> Vector containing all parsed domains. */

* @brief Get the current feedback from the action performer. * * @return std::string containing the feedback message. */

Service callback to generate multiple plans. Parameters ---------- request: GetPlanArray.Request Service

Service callback to generate a plan for a PDDL problem. Parameters ---------- request: GetPlan.Request S