NavigateToPose

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

Input Ports

goal

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

Takes in a blackboard variable containing the goal, eg. "{goal}".

behavior_tree

Type: string Default: N/A

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

server_name

Type: string Default: N/A

Action server name. If not specified, navigate_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

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

Example

<NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10"
                error_code_id="{navigate_to_pose_error_code}" error_msg="{navigate_to_pose_error_msg}"
                behavior_tree="NavigateThroughPosesWReplanningAndRecovery"/>