HanielUlises · Sep 28, 2026 · Sep 28, 2026
diff --git a/eplansys/CHANGELOG.rst b/eplansys/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package eplansys
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* del-planner (formerly Aletheia) is pinned at 314bc29, with --consistent-beliefs, and
+  its URL now names it del-planner.
+* A Docker image on ROS 2 Humble runs the two-site survey from a clean clone.
+* The survey mission asks for a policy again when an action fails, from the
+  epistemic state it reached (eplansys_demo).
+
 0.2.0 (2026-09-17)
 ------------------
 * Aletheia and plank are pinned to commits in dependency_repos.repos.

diff --git a/eplansys/package.xml b/eplansys/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>eplansys</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
 
   <description>
     Epistemic planning and execution for ROS 2. Installs PlanSys2 and the

diff --git a/eplansys_docs/conf.py b/eplansys_docs/conf.py
@@ -6,8 +6,8 @@
 project = 'ePlanSys'
 copyright = '2026, Haniel Ulises Vasquez Morales'
 author = 'Haniel Ulises Vasquez Morales'
-release = '0.2.0'
-version = '0.2.0'
+release = '0.3.0'
+version = '0.3.0'
 
 extensions = [
     'sphinx.ext.graphviz',

diff --git a/plansys2_aletheia_plan_solver/CHANGELOG.rst b/plansys2_aletheia_plan_solver/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package plansys2_aletheia_plan_solver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* consistent_beliefs, on by default, passes --consistent-beliefs and validates
+  the returned plan under it.
+
 0.2.0 (2026-09-17)
 ------------------
 * One Aletheia behind both plugins: the binary this package runs and the

diff --git a/plansys2_aletheia_plan_solver/package.xml b/plansys2_aletheia_plan_solver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_aletheia_plan_solver</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     Plan solver plugin that runs the Aletheia epistemic planner as an external
     process, the way plansys2_popf_plan_solver runs POPF. The same planning is

diff --git a/plansys2_epddl_grounder/CHANGELOG.rst b/plansys2_epddl_grounder/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package plansys2_epddl_grounder
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* No changes.
+
 0.2.0 (2026-09-17)
 ------------------
 * EPDDL as the input, instead of a grounded task made by hand

diff --git a/plansys2_epddl_grounder/package.xml b/plansys2_epddl_grounder/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epddl_grounder</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     The EPDDL front end: turns an EPDDL domain, problem and action-type
     libraries into the grounded task JSON that plansys2_epistemic_planner and

diff --git a/plansys2_epistemic_bt_builder/CHANGELOG.rst b/plansys2_epistemic_bt_builder/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package plansys2_epistemic_bt_builder
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* parallel_dispatch renders the policy as schedule_policy arranges it.
+
 0.2.0 (2026-09-17)
 ------------------
 * Execution of epistemic policies as behavior trees

diff --git a/plansys2_epistemic_bt_builder/package.xml b/plansys2_epistemic_bt_builder/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epistemic_bt_builder</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     The BTBuilder plugin that renders epistemic policies. Kept apart from
     plansys2_epistemic_executor because it is the only piece that needs

diff --git a/plansys2_epistemic_executor/CHANGELOG.rst b/plansys2_epistemic_executor/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package plansys2_epistemic_executor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* The tracked model is repaired only when the task asks for repair, as the
+  planner's is, and is never refused.
+* Independent runs of a policy can be dispatched together (parallel_groups).
+* schedule_policy moves an independent action above a branch point when every
+  branch begins with it, and groups sensing actions that run side by side.
+
 0.2.0 (2026-09-17)
 ------------------
 * Execution of epistemic policies as behavior trees

diff --git a/plansys2_epistemic_executor/package.xml b/plansys2_epistemic_executor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epistemic_executor</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     Execution of epistemic policies: a behavior tree architecture extending
     PlanSys2's with knowledge guards, DEL updates and branching on what was

diff --git a/plansys2_epistemic_msgs/CHANGELOG.rst b/plansys2_epistemic_msgs/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package plansys2_epistemic_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* No changes.
+
 0.2.0 (2026-09-17)
 ------------------
 * Service definitions for an epistemic state

diff --git a/plansys2_epistemic_msgs/package.xml b/plansys2_epistemic_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epistemic_msgs</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     Service interfaces for querying and advancing an epistemic state: the
     knowledge-level counterpart of what the problem expert offers for facts.

diff --git a/plansys2_epistemic_perception/CHANGELOG.rst b/plansys2_epistemic_perception/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package plansys2_epistemic_perception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* No changes.
+
 0.2.0 (2026-09-17)
 ------------------
 * The map, read as knowledge

diff --git a/plansys2_epistemic_perception/package.xml b/plansys2_epistemic_perception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epistemic_perception</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     The map read as knowledge: named regions of an occupancy grid, classified
     as clear, blocked or undecided, and reported to the epistemic state as the

diff --git a/plansys2_epistemic_planner/CHANGELOG.rst b/plansys2_epistemic_planner/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package plansys2_epistemic_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2026-09-28)
+------------------
+* consistent_beliefs, on by default: a plan that relies on an agent believing a
+  contradiction is refused.
+
 0.2.0 (2026-09-17)
 ------------------
 * Search with Aletheia itself, not a copy of it: the planning core is linked

diff --git a/plansys2_epistemic_planner/package.xml b/plansys2_epistemic_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>plansys2_epistemic_planner</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>Epistemic plan solver plugin for PlanSys2 based on multi-agent Kripke models.</description>
   <maintainer email="thesis@eplansys.dev">Thesis Dev</maintainer>
   <license>Apache-2.0</license>