rosplan, behavior tree and state machine

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Hi all,

I'm a bit confused about the rosplan and behavior tree or state machine recently. As far as I can understand, behavior tree and state machine can be used to organize sequences of actions or states of robot to achieve a task, while rosplan aims to use pddl to generate a plan or sequence of actions to achieve a task given the start state and goal state.

I'm not sure whether I understand correctly and whether they can be combined? like using rosplan to generate a sequence of actions, which is then transformed to behavior tree automatically? Is there any package to do this?

Thanks for any help!