IsPathValid
Checks to see if the global path is valid. If there is a obstacle along the path, the condition returns FAILURE, otherwise it returns SUCCESS.
Input Ports
- service_timeout
Type
Default
double
20.0
- Description
Service response timeout (ms).
- path
Type
Default
nav_msgs::msg::Path
N/A
- Description
The global path to check for validity.
- max_cost
Type
Default
unsigned int
253
- Description
The maximum allowable cost for the path to be considered valid.
- consider_unknown_as_obstacle
Type
Default
bool
false
- Description
Whether to consider unknown cost (255) as obstacle.
Example
<IsPathValid server_timeout="10" path="{path}" max_cost="100" consider_unknown_as_obstacle="false" />