FollowPath

Invokes the FollowPath ROS 2 action server, which is implemented by the controller plugin modules loaded. The server address can be remapped using the server_name input port.

Input Ports

`path`

Type: nav_msgs::msg::Path Default: N/A: Takes in a blackboard variable containing the path to follow, eg. "{path}".

`controller_id`

Type: string Default: N/A: Mapped name of the controller plugin type to use, e.g. FollowPath.

`goal_checker_id`

Type: string Default: N/A: Mapped name of the goal checker plugin type to use, e.g. SimpleGoalChecker.

`progress_checker_id`

Type: string Default: N/A: Mapped name of the progress checker plugin type to use, e.g. SimpleProgressChecker.

`path_handler_id`

Type: string Default: N/A: Mapped name of the path handler plugin type to use, e.g. FeasiblePathHandler.

`server_name`

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

`tracking_feedback`

Type: nav2_msgs::msg::TrackingFeedback Default: N/A: Tracking feedback message from the controller server, including cross track error, current path index, remaining path length, etc.

`error_code_id`

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

`error_msg`

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

Example

<FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="precise_goal_checker"
            path_handler_id="PathHandler" server_name="FollowPath" server_timeout="10"
            error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"
            tracking_feedback="{tracking_feedback}"/>