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The ROSPlan Framework (Cashmore et al. 2015) provides a generic method for task planning in a ROS system. ROSPlan links two standards -- PDDL2.1 and ROS -- encapsulating both planning and dispatch. It possesses a simple interface, and some components to communicate with standard ROS libraries.
New components can be designed to utilize task planning features in a ROS system. By default, ROSPlan includes a roadmap generation component (rosplan_interface_mapping), and a simple PDDL-to-ROS action component (rosplan_interface_movebase).
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 temporal/numeric planning language: PDDL 2.1. ROSPlan currently uses a temporal/numeric planner, POPF, to automate planning in ROS; however, any other planner that can reason with PDDL 2.1 language can be used.
The documentation of ROSPlan, user guides, and demos are available on the main website: http://kcl-planning.github.io/ROSPlan
"ROSPlan: Planning in the Robot Operating System". M. Cashmore, M. Fox, D. Long, D. Magazzeni, B. Ridder, A. Carrera, N. Palomeras, N. Hurtos, M. Carreras. Proceedings of the 25th International Conference on Automated Planning and Scheduling (ICAPS-15). June 2015.