ComputeRoute

Invokes the ComputeRoute ROS 2 action server, which is implemented by the nav2_route module. The server address can be remapped using the server_name input port.

Input Ports

start

Type	Default
geometry_msgs::msg::PoseStamped	N/A

Description: Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. “{start}”.

goal

Type	Default
geometry_msgs::msg::PoseStamped	N/A

Description: Goal pose. Takes in a blackboard variable, e.g. “{goal}”.

start_id

Type	Default
int	N/A

Description: Start node ID to use.

goal_id

Type	Default
int	N/A

Description: Goal node ID to use.

use_start

Type	Default
bool	false

Description: Whether to use the start or use TF to obtain the robot’s start pose.

use_poses

Type	Default
bool	false

Description: Whether to use the start and goal poses or start and goal node IDs.

server_name

Type	Default
string	N/A

Description: Action server name.

server_timeout

Type	Default
double	10

Description: Action server timeout (ms).

Output Ports

route

Type	Default
nav2_msgs::msg::Route	N/A

Description: Route created by action server. Takes in a blackboard variable, e.g. “{route}”.

path

Type	Default
nav_msgs::msg::Path	N/A

Description: Path created by action server. Takes in a blackboard variable, e.g. “{path}”.

planning_time

Type	Default
builtin_interfaces::msg::Duration	N/A

Description: Time it took to compute the route.

error_code_id

Type	Default
uint16	N/A

Description: Compute route error code. See ComputeRoute action message for the enumerated set of error codes.

error_msg

Type	Default
string	N/A

Description: Compute route error message. See ComputeRoute action message for the enumerated set of error codes.

Example

<ComputeRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}" path="{path}" server_name="ComputeRoute" server_timeout="10"
                   error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>