  Autonomous robots need to plan the tasks they carry out to fulfill their
missions. The missions' increasing complexity does not let human designers
anticipate all the possible situations, so traditional control systems based on
state machines are not enough. This paper contains a description of the ROS2
Planning System (PlanSys2 in short), a framework for symbolic planning that
incorporates novel approaches for execution on robots working in demanding
environments. PlanSys2 aims to be the reference task planning framework in
ROS2, the latest version of the {\em de facto} standard in robotics software
development. Among its main features, it can be highlighted the optimized
execution, based on Behavior Trees, of plans through a new actions auction
protocol and its multi-robot planning capabilities. It already has a small but
growing community of users and developers, and this document is a summary of
the design and capabilities of this project.
