CheckPoseOccupancy

Checks to see if the pose is occupied. If it is occupied, it returns SUCCESS, otherwise it returns FAILURE.

Input Ports

pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

Pose to check if it is occupied.

cost_threshold

Type: double Default: 254.0

The cost threshold above which a waypoint is considered in collision and should be removed. If use_footprint = false, consider setting to 253 for occupied.

use_footprint

Type: bool Default: true

Whether to use the footprint cost or the point cost.

consider_unknown_as_obstacle

Type: bool Default: false

Whether to consider unknown cost (255) as obstacle.

service_name

Type: string Default: N/A

Costmap service name responsible for getting the cost. If not specified, /global_costmap/get_cost_global_costmap 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).

Example

<CheckPoseOccupancy server_timeout="10" pose="{goal}"/>