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ROSPlan Framework

The ROSPlan Framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It possesses a simple interface, and already includes components to communicate with ROS libraries. New generic components can be designed to utilize task planning features in ROS system. ROSPlan already have a roadmap generation component, and a simple PDDL-to-ROS action (RPMoveBase) component.

Task planning is concerned with sequencing applicable actions in order to achieve achieve a goal, while minimizing resources. Domain and problem files are written in a standard numeric/temporal planning language, PDDL 2.1 (Fox and Long 2003). ROSPlan currently uses a temporal/numeric planner, POPF (Coles et al. 2010) to automate planning in ROS; however, any other planner that can reason with PDDL 2.1 language can be used (if desired).