License

ePlanSys is distributed under the Apache License, Version 2.0. The full text is in the LICENSE file at the root of the repository, and the attribution notice is in NOTICE.

Relationship to PlanSys2

This project is a derivative work of PlanSys2 (ROS2 Planning System), originally developed by Francisco Martín Rico, Jonatan Ginés Clavero, Francisco J. Rodríguez Lera and Vicente Matellán Olivera, and licensed under the Apache License, Version 2.0. The original work is described in F. Martín et al., “PlanSys2: A Planning System Framework for ROS2”, IROS 2021.

ePlanSys is not endorsed by, affiliated with, or supported by the PlanSys2 project or its authors. Questions, bug reports and pull requests about the code in this repository belong here, not to the upstream project.

Provenance of the packages

The plansys2_* packages that are not epistemic come from the original PlanSys2 project and remain subject to its copyright notices and the Apache License, Version 2.0. This repository preserves their upstream commit history, so git log on any file identifies its origin.

All of them have been modified, in four categories: the extension points the epistemic packages attach to were widened, principally in plansys2_msgs and plansys2_executor; bring-up and lifecycle management were extended to cover the epistemic nodes; compatibility shims were added for building on both Humble and Rolling; and defects found while running the system were corrected. plansys2_tui_cli and plansys2_tests are modified more extensively, the first adding the epistemic verb and a Textual dashboard, the second two integration missions.

The epistemic packages are original contributions, developed as part of a terminal work at the Instituto Politécnico Nacional, Mexico, and are also distributed under the Apache License, Version 2.0. Several carry the plansys2_ prefix to identify the extension point they attach to. The prefix reflects the attachment point, not the authorship. NOTICE lists them.

The planning core of plansys2_epistemic_planner is the Aletheia epistemic planner, a work of the same author, also under the Apache License, Version 2.0: the Kripke state representation, the DEL product update, bisimulation contraction, formula representation and model checking, the heuristics, the search strategies, the selection policy, the parser and the validator. It is not copied into this repository: it is built from source through dependency_repos.repos and linked as a library, and plansys2_aletheia_plan_solver runs the binary the same build installs. The files of plansys2_epistemic_planner, the plan solver plugin, the policy plan serialisation, the belief state serialisation, the action mapping and the formula text front end, are original to this repository.

plansys2_epddl_grounder includes three files reproduced verbatim from other projects, used at run time and not compiled. NOTICE names them and their licences.

Copyright

ePlanSys - Epistemic Planning System for ROS2
Copyright 2026 Haniel Ulises Vasquez Morales

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

The link preview image carries the ROS logo, from ros-infrastructure/artwork, which is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License and used unmodified under the ROS trademark policy. ROS is a trademark of Open Robotics.