AssistedTeleop

Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist commands to prevent collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior. The nav2_behaviors module implements the AssistedTeleop action server.

Input Ports

`is_recovery`

Type: bool Default: false: If true increment the recovery counter.

`time_allowance`

Type: double Default: 10.0: Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).

`server_name`

Type: string Default: N/A: Action server name. If not specified, assisted_teleop is used.

`server_timeout`

Type: chrono::milliseconds Default: N/A: Action server timeout (ms). If not provided, uses the BT Navigator's default_server_timeout parameter value (20 ms by default).

Output Ports

`error_code_id`

Type: uint16 Default: N/A: Assisted teleop error code. See AssistedTeleop action message for the enumerated set of error codes.

`error_msg`

Type: string Default: N/A: Assisted teleop error message. See AssistedTeleop action message for the enumerated set of error codes.

Example

<AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10"
                error_code_id="{assisted_teleop_error_code}" error_msg="{assisted_teleop_error_msg}"/>