Writing a planner plugin for ROS2 using Python

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This question is very much related to my question asking for a controller plugin in Python: https://answers.ros.org/question/3566... I've looked into this a fair bit, and ended up writing a plugin in c++.

Basically the navigation stack uses pluginlib to dynamically load plugins. I believe it only supports c++ plugins.

I think you have three options:
1) Embed your python in a c++ plugin
2) Call out to python nodes via services/actions from a c++ plugin
3) Startup and manage the lifecycle of your Python planner yourself, remapping topics from any existing c++ planners to your Python planner.