FollowPath

Invokes the FollowPath ROS 2 action server, which is implemented by the controller plugin modules loaded. The server address can be remapped using the server_name input port.

Input Ports

path

Type	Default
string	N/A

Description: Takes in a blackboard variable containing the path to follow, eg. “{path}”.

controller_id

Type	Default
string	N/A

Description: Mapped name of the controller plugin type to use, e.g. FollowPath.

goal_checker_id

Type	Default
string	N/A

Description: Mapped name of the goal checker plugin type to use, e.g. SimpleGoalChecker.

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 path error code. See FollowPath action for the enumerated set of error code definitions.

Example

<FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="precise_goal_checker" server_name="FollowPath" server_timeout="10" error_code_id="{follow_path_error_code}"/>