Tools

PlanSys2 comes with tools to load knowledge, plan, run plans, and watch what happens.

Terminal

plansys2_terminal is an interactive shell: set instances, predicates, functions and goals, ask for plans and run them, query the domain and the problem. source <file> runs the commands of a file. Terminal Usage explains every command.

ros2 run plansys2_terminal plansys2_terminal

TUI

plansys2_tui shows PlanSys2 in a terminal window, in two tabs:

Overview (key 1): four panels.
- Action Execution: each performer and the action it runs, from performers_status and actions_hub.
- Plan Monitor: the plan being executed and the progress of each action, from executing_plan and action_execution_info.
- Performers: the state of each performer.
- Knowledge: instances, predicates, functions with their values, goal, metric and constraints, from problem_expert/knowledge.
Plan log (key 2): the execution trace as sentences, one per event; c clears it. See Reading an execution.

The Plan Monitor and Knowledge panels say when the node that feeds them is not running, and keep their last data. The TUI does not run on Humble (see Migrating to 4.0.0).

ros2 run plansys2_tui_cli plansys2_tui

Command line

ros2 plansys2 prints the same information in the shell:

Command	What it shows
`ros2 plansys2 knowledge`	The knowledge of the problem expert.
`ros2 plansys2 plan_monitor`	The plan being executed and the progress of its actions.
`ros2 plansys2 performers`	The registered action performers and their state.
`ros2 plansys2 execution_monitor`	The actions running, from `actions_hub`.

rqt plugins

plansys2_tools adds three plugins to rqt (menu Plugins > PlanSys2): Knowledge, Performers and Plan. Each one also runs alone:

ros2 run plansys2_tools rqt_plansys2_plan

Logger

ros2 run plansys2_tools logger writes to its log the messages of actions_hub, action_execution_info, executing_plan, performers_status and problem_expert/knowledge.