* @brief Get the current ROS time from the node. * * @return rclcpp::Time Current ROS time. */

* @brief Gets the internal graph representation. * * @return Shared pointer to the STN graph. */

* @brief Not implemented for SimpleBTBuilder. * * @return nullptr as this function is not implemented. */

* @brief Get the current internal status of the action executor. * * @return plansys2_msgs::msg::ActionPerformerStatus Current status message wi

Mock get_plan implementation.

Get a plan that will satisfy the provided domain and problem. Parameters ---------- domain : str The PDD

Generate a plan given a PDDL domain and problem definition. Parameters ---------- domain : str The PDDL

Get a plan array that will satisfy the provided domain and problem. Parameters ---------- domain : str T

Get all discovered plugin descriptors. Returns ------- Dict[str, PluginDescriptor] Dictionary of plugin

* @brief Get the time when the action execution started. * * @return rclcpp::TimeThe ROS time when action execution was activated. */

Create a ground condition with the given name