SmoothPath

Invokes the SmoothPath action API in the smoother server to smooth a given path plan.

Input Ports

`unsmoothed_path`

Type: nav_msgs::msg::Path Default: N/A: The blackboard variable or hard-coded input path to smooth.

`max_smoothing_duration`

Type: double Default: 3.0: Maximum time to smooth for (seconds).

`check_for_collisions`

Type: bool Default: false: Whether to check the output smoothed path for collisions.

`smoother_id`

Type: string Default: N/A: The smoother plugin ID to use for smoothing in the smoother server.

`server_name`

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

`smoothed_path`

Type: nav_msgs::msg::Path Default: N/A: The output blackboard variable to assign the smoothed path to.

`smoothing_duration`

Type: double Default: N/A: The actual duration used for smoothing.

`was_completed`

Type: bool Default: N/A: Indicates if the smoothing process was completed. Will return false if check_for_collisions is set to true and a collision is detected.

`error_code_id`

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

`error_msg`

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

Example

<SmoothPath unsmoothed_path="{path}" smoothed_path="{path}" max_smoothing_duration="3.0"
            smoother_id="simple_smoother" check_for_collisions="false"
            smoothing_duration="{smoothing_duration_used}" was_completed="{smoothing_completed}"
            error_code_id="{smoothing_path_error_code}" error_msg="{smoothing_path_error_msg}"/>