AssistedTeleop
Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist commands to prevent collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior. The nav2_behaviors module implements the AssistedTeleop action server.
Input Ports
- is_recovery
Type
Default
double
false
- Description
If true increment the recovery counter.
- time_allowance
Type
Default
double
10.0
- Description
Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
- server_name
Type
Default
string
N/A
- Description
Action server name.
- server_timeout
Type
Default
double
10
- Description
Action server timeout (ms).
- error_code_id
Type
Default
uint16
N/A
- Description
Assisted teleop error code. See
AssistedTeleopaction message for the enumerated set of error codes.
Example
<AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10" error_code_id="{assisted_teleop_error_code}"/>