The Robot Operating System (ROS) is a set of software libraries
and tools used to build robotic systems. ROS is known
for a distributed and modular design. Given a model of the
environment, task planning is concerned with the assembly
of actions into a structure that is predicted to achieve goals.
This can be done in a way that minimises costs, such as time
or energy. Task planning is vital in directing the actions of
a robotic agent in domains where a causal chain could lock
the agent into a dead-end state. Moreover, planning can be
used in less constrained domains to provide more intelligent
behaviour. This paper describes the ROSPLAN framework,
an architecture for embedding task planning into ROS systems.
We provide a description of the architecture and a case
study in autonomous robotics. Our case study involves autonomous
underwater vehicles in scenarios that demonstrate
the flexibility and robustness of our approach
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