FollowObject

Invokes the FollowObject ROS 2 action server, it will dynamically follow an object while maintaining a defined distance. The server address can be remapped using the server_name input port.

Input Ports

pose_topic

Type	Default
string	dynamic_pose

Description: Topic to publish the pose of the object to follow.

max_duration

Type	Default
double	0.0

Description: The maximum duration to follow the object.

tracked_frame

Type	Default
string	N/A

Description: Target frame to follow.

server_name

Type	Default
string	N/A

Description: Action server name.

server_timeout

Type	Default
double	10

Description: Action server timeout (ms).

Output Ports

error_code_id

Type	Default
uint16	N/A

Description: Follow object error code. See FollowObject action for the enumerated set of error code definitions.

error_msg

Type	Default
string	N/A

Description: Follow object error message. See FollowObject action for the enumerated set of error code definitions.

Example

<FollowObject name="FollowPerson" pose_topic="/person_pose" max_duration="0.0"/>