Wait

Invokes the Wait ROS 2 action server, which is implemented by the nav2_behaviors module. This action is used in nav2 Behavior Trees as a recovery behavior.

Input Ports

`wait_duration`

Type: double Default: 1.0: Wait time (s).

`server_name`

Type: string Default: N/A: Action server name. If not specified, wait 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: Wait error code. See Wait action message for the enumerated set of error codes.

`error_msg`

Type: string Default: N/A: Wait error message. See Wait action message for the enumerated set of error codes.

Example

<Wait wait_duration="1.0" server_name="wait_server" server_timeout="10"
      error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>