ComputePathToPose

Invokes the ComputePathToPose ROS 2 action server, which is implemented by the nav2_planner 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. Used as the planner start pose instead of the current robot pose, if use_start is not false (i.e. not provided or set to true). Takes in a blackboard variable, e.g. "{start}".

use_start

Type: bool Default: N/A

Optional. For using or not using (i.e. ignoring) the provided start pose start. Takes in a blackboard variable, e.g. "{use_start}".

goal

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

Goal pose. Takes in a blackboard variable, e.g. "{goal}".

viapoints

Type: vector<geometry_msgs::msg::PoseStamped> Default: N/A

Optional. A list of intermediate viapoints (excluding goal) to consider for planning. Takes in a blackboard variable, e.g. "{viapoints}".

planner_id

Type: string Default: ""

Mapped name to the planner plugin type to use, e.g. GridBased.

server_name

Type: string Default: N/A

Action server name. If not specified, compute_path_to_pose 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

path

Type: nav_msgs::msg::Path Default: N/A

Path created by action server. Takes in a blackboard variable, e.g. "{path}".

error_code_id

Type: uint16 Default: N/A

Compute path to pose error code. See ComputePathToPose action message for the enumerated set of error codes.

error_msg

Type: string Default: N/A

Compute path to pose error message. See ComputePathToPose action message for the enumerated set of error codes.

Example

<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"
                   server_name="ComputePathToPose" server_timeout="10"
                   error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>