DriveOnHeading
Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance. The nav2_behaviors module implements the DriveOnHeading action server.
Input Ports
- dist_to_travel
Type
Default
double
0.15
- Description
Distance to travel (m).
- speed
Type
Default
double
0.025
- Description
Speed at which to travel (m/s).
- 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).
- disable_collision_checks
Type
Default
bool
false
- Description
Disable collision checking.
Output Ports
- error_code_id
Type
Default
uint16
N/A
- Description
Drive on heading error code. See
DriveOnHeadingaction message for the enumerated set of error codes.
Example
<DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}" disable_collision_checks="false"/>