DriveOnHeading

Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance. The nav2_behaviors module implements the DriveOnHeading action server.

Input Ports

`dist_to_travel`

Type: double Default: 0.15: Distance to travel (m).

`speed`

Type: double Default: 0.025: Speed at which to travel (m/s).

`time_allowance`

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

`disable_collision_checks`

Type: bool Default: false: Disable collision checking.

`server_name`

Type: string Default: N/A: Action server name. If not specified, drive_on_heading 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: Drive on heading error code. See DriveOnHeading action message for the enumerated set of error codes.

`error_msg`

Type: string Default: N/A: Drive on heading error message. See DriveOnHeading action message for the enumerated set of error codes.

Example

<DriveOnHeading dist_to_travel="0.2" speed="0.05"
                server_name="backup_server" server_timeout="10" disable_collision_checks="false"
                error_code_id="{drive_on_heading_error_code}" error_msg="{drive_on_heading_error_msg}"/>