# ROS2 Planning System

**URL:** <https://discourse.openrobotics.org/t/ros2-planning-system/11844>\
**Category:** Projects\
**Tags:** ros2\
**Created:** [December 8, 2019, 9:43am UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844 "2019-12-08T09:43:56Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![fmrico](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fmrico/32/707_2.png) [@fmrico](https://discourse.openrobotics.org/u/fmrico)\
**Post date:** [December 8, 2019, 9:43am UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844/1 "2019-12-08T09:43:56Z")

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Dear ROS community,

I want to share with you my [ROS2 Planning System](https://github.com/IntelligentRoboticsLabs/ros2_planning_system) project. I have just finished the first functional version, and I am in the documentation phase. If someone finds it interesting, you are encouraged to contribute.

This project is the result of my experience of several years with [ROSPlan](https://github.com/KCL-Planning/ROSPlan), which has inspired this project. It is a complete implementation in ROS2 that offers an alternative design with the functionality that we wanted during our developments.

Enjoy and #GoROS2 !!!  
Francisco

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**Author:** ![victorpaleologue](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/victorpaleologue/32/12839_2.png) [@victorpaleologue](https://discourse.openrobotics.org/u/victorpaleologue)\
**Post date:** [June 29, 2022, 2:11pm UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844/2 "2022-06-29T14:11:32Z")

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Hello, where is that project at, now?  
Is that the only ROS2 alternative to ROSPlan?  
Has the ROSPlan team worked towards ROS2 in any way since then?

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**Author:** ![fmrico](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fmrico/32/707_2.png) [@fmrico](https://discourse.openrobotics.org/u/fmrico)\
**Post date:** [June 29, 2022, 3:48pm UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844/3 "2022-06-29T15:48:13Z")

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PlanSys2 has good health, and is here:

[https://github.com/PlanSys2/ros2\_planning\_system](https://github.com/PlanSys2/ros2_planning_system)  
[https://plansys2.github.io/ros2\_planning\_system.github.io/](https://plansys2.github.io/ros2_planning_system.github.io/)

Best  
Francisco

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**Author:** ![victorpaleologue](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/victorpaleologue/32/12839_2.png) [@victorpaleologue](https://discourse.openrobotics.org/u/victorpaleologue)\
**Post date:** [June 29, 2022, 4:26pm UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844/4 "2022-06-29T16:26:17Z")

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This is great, thank you for providing these packages.  
Does it include some code to re-plan automatically when the problem changes?  
Does it try to handle non-determinism in any way?

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**Author:** ![fmrico](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fmrico/32/707_2.png) [@fmrico](https://discourse.openrobotics.org/u/fmrico)\
**Post date:** [April 18, 2025, 11:22am UTC](https://discourse.openrobotics.org/t/ros2-planning-system/11844/5 "2025-04-18T11:22:50Z")

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> Does it include some code to re-plan automatically when the problem changes?

Yes, of course 🙂

[https://github.com/PlanSys2/ros2\_planning\_system/pull/338](https://github.com/PlanSys2/ros2_planning_system/pull/338)