NavigateThroughPoses

Invokes the NavigateThroughPoses ROS 2 action server, which is implemented by the bt_navigator module.

Input Ports

goals

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

Goal poses. Takes in a blackboard variable, e.g. "{goals}".

behavior_tree

Type: string Default: N/A

Behavior tree absolute path or ID. If none is specified, NavigateThroughPoses action server uses a default behavior tree.

server_name

Type: string Default: N/A

Action server name. If not specified, navigate_through_poses 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

The lowest error code in the list of the error_code_name_prefixes + _error_code suffix parameter.

error_msg

Type: string Default: N/A

The error message associated with the lowest error code in the list of the error_code_name_prefixes + _error_code suffix parameter.

Example

<NavigateThroughPoses goals="{goals}" server_name="NavigateThroughPoses" server_timeout="10"
                      error_code_id="{navigate_through_poses_error_code}" error_msg="{navigate_through_poses_error_msg}"
                      behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>