IsWithinPathTrackingBounds
Checks if the robot is within determined tracking error bounds during path following.
Input Ports
- max_error_left
Type
Default
double
0.5
- Description
Maximum allowable tracking error (m) on the left side of the path before returning FAILURE. Must be a positive value.
- max_error_right
Type
Default
double
0.5
- Description
Maximum allowable tracking error (m) on the right side of the path before returning FAILURE. Must be a positive value.
- max_error_heading
Type
Default
double
3.14
- Description
Maximum allowable heading error (rad) before returning FAILURE. Must be a positive value.
- tracking_feedback
Type
Default
nav2_msgs::msg::PathTrackingFeedback
N/A
- Description
Generally, the feedback message from the controller server, which contains the current tracking error information. Though, it may be populated by another source or topic if need be.
Example
<IsWithinPathTrackingBounds max_error_left="0.5" max_error_right="0.5" max_error_heading="3.14" tracking_feedback="{tracking_feedback}"/>