The UPF Domain Expert module is responsible for maintaining the PDDL domain.
The main class is DomainExpertNode. DomainExpertNode simulates a rclcpp_lifecycle::LifecycleNode and in its configuration phase reads the model_file parameter, which contains the .pddl file from which to read the model.
The class responsible for maintaining this domain is DomainExpert, which is independent of ROS2.
The UPF Domain Expert does not change while active, accessing its functionality through ROS2 services.
/domain_expert/get_domain[plansys2_msgs::srv::GetDomain]/domain_expert/get_domain_name[plansys2_msgs::srv::GetDomainName]/domain_expert/get_domain_action_details[plansys2_msgs::srv::GetDomainActionDetails]/domain_expert/get_domain_actions[plansys2_msgs::srv::GetDomainActions]/domain_expert/get_domain_durative_action_details[plansys2_msgs::srv::GetDomainDurativeActionDetails]/domain_expert/get_domain_durative_actions[plansys2_msgs::srv::GetDomainActions]/domain_expert/get_domain_function_details[plansys2_msgs::srv::GetNodeDetails]/domain_expert/get_domain_functions[plansys2_msgs::srv::GetStates]/domain_expert/get_domain_predicate_details[plansys2_msgs::srv::GetNodeDetails]/domain_expert/get_domain_predicates[plansys2_msgs::srv::GetStates]/domain_expert/get_domain_types[plansys2_msgs::srv::GetDomainTypes]/domain_expert/get_domain_constants[plansys2_msgs::srv::GetDomainConstants]