NavigateThroughPoses

Invokes the NavigateThroughPoses ROS 2 action server, which is implemented by the bt_navigator module.

Input Ports

goals

Type	Default
vector<geometry_msgs::msg::PoseStamped>	N/A

Description

Goal poses. Takes in a blackboard variable, e.g. “{goals}”.

server_name

Type	Default
string	N/A

Description

Action server name.

server_timeout

Type	Default
double	10

Description

Action server timeout (ms).

behavior_tree

Type	Default
string	N/A

Description

Behavior tree absolute path. If none is specified, NavigateThroughPoses action server uses a default behavior tree.

Output Ports

error_code_id

Type	Default
uint16	N/A

Description

The lowest error code in the list of the error_code_names parameter.

Example

<NavigateThroughPoses goals="{goals}" server_name="NavigateThroughPoses" server_timeout="10" error_code_id="{navigate_through_poses_error_code}"
                      behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>