FollowObject

Invokes the FollowObject ROS 2 action server, it will dynamically follow an object while maintaining a defined distance. The server address can be remapped using the server_name input port.

Input Ports

`pose_topic`

Type: string Default: "dynamic_pose": Topic to publish the pose of the object to follow.

`max_duration`

Type: float Default: 0.0: The maximum duration to follow the object (Optional).

`tracked_frame`

Type: string Default: N/A: Target frame to follow (Optional, used if pose_topic is not set).

`server_name`

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

`total_elapsed_time`

Type: builtin_interfaces::msg::Duration Default: N/A: Total elapsed time.

`error_code_id`

Type: uint16 Default: N/A: Follow object error code. See FollowObject action for the enumerated set of error code definitions.

`error_msg`

Type: string Default: N/A: Follow object error message. See FollowObject action for the enumerated set of error code definitions.

Example

<FollowObject name="FollowPerson" pose_topic="/person_pose" max_duration="0.0"/>