ComputeAndTrackRoute

Invokes the ComputeAndTrackRoute ROS 2 action server, which is implemented by the nav2_route module. The server address can be remapped using the server_name input port.

Input Ports

`start`

Type: geometry_msgs::msg::PoseStamped Default: N/A: Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}".

`goal`

Type: geometry_msgs::msg::PoseStamped Default: N/A: Goal pose. Takes in a blackboard variable, e.g. "{goal}".

`start_id`

Type: unsigned int Default: N/A: Start node ID to use.

`goal_id`

Type: unsigned int Default: N/A: Goal node ID to use.

`use_start`

Type: bool Default: false: Whether to use the start or use TF to obtain the robot's start pose.

`use_poses`

Type: bool Default: false: Whether to use the start and goal poses or start and goal node IDs.

`server_name`

Type: string Default: N/A: Action server name. If not specified, compute_and_track_route 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

`execution_duration`

Type: builtin_interfaces::msg::Duration Default: N/A: Time it took to compute the route.

`last_node_id`

Type: uint16 Default: N/A: ID of the previous node.

`next_node_id`

Type: uint16 Default: N/A: ID of the next node.

`current_edge_id`

Type: uint16 Default: N/A: ID of the current edge.

`route`

Type: nav2_msgs::msg::Route Default: N/A: List of RouteNodes to go from start to end.

`path`

Type: nav_msgs::msg::Path Default: N/A: Path created by ComputeAndTrackRoute node.

`rerouted`

Type: bool Default: N/A: Whether the plan has rerouted.

`error_code_id`

Type: uint16 Default: N/A: Compute route error code. See ComputeAndTrackRoute action message for the enumerated set of error codes.

`error_msg`

Type: string Default: N/A: Compute route error message. See ComputeAndTrackRoute action message for the enumerated set of error codes.

Example

<ComputeAndTrackRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}"
                      server_name="ComputeAndTrackRoute" server_timeout="10"
                      error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>