Wait

Invokes the Wait ROS 2 action server, which is implemented by the nav2_behaviors module. This action is used in nav2 Behavior Trees as a recovery behavior.

Input Ports

wait_duration

Type	Default
double	1.0

Description: Wait time (s).

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: Wait error code. See Wait action message for the enumerated set of error codes.

error_msg

Type	Default
string	N/A

Description: Wait error message. See Wait action message for the enumerated set of error codes.

Example

<Wait wait_duration="1.0" server_name="wait_server" server_timeout="10"
      error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>