PlanSys2 is a ROS2-based PDDL planning and execution framework for robotics. It provides a complete stack: domain and problem experts for managing PDDL knowledge, a planner node that delegates to multiple solver plugins (POPF, Kairos), and an executor that converts plans into behavior trees for action execution. The system supports temporal planning, numeric fluents, derived predicates, PDDL3 constraints, and PDDL+ dynamics (processes/events). All core components are ROS2 lifecycle nodes with service-based APIs, and the framework includes a terminal interface, a TUI/CLI, and rqt plugins for monitoring. The architecture is modular with plugin-based solvers and BT builders, enabling extensibility. The codebase is well-tested with extensive unit and integration tests, and it supports multiple ROS2 distributions (Humble, Jazzy, Rolling). While primarily an application, it has research-grade features and a comprehensive PDDL test bank.