IsWithinPathTrackingBounds

Checks if the robot is within determined tracking error bounds during path following.

Input Ports

max_error_left

Type: double Default: 0.5

Maximum allowable tracking error (m) on the left side of the path before returning FAILURE. Must be a positive value.

max_error_right

Type: double Default: 0.5

Maximum allowable tracking error (m) on the right side of the path before returning FAILURE. Must be a positive value.

max_error_heading

Type: double Default: 3.14

Maximum allowable heading error (rad) before returning FAILURE. Must be a positive value.

tracking_feedback

Type: nav2_msgs::msg::TrackingFeedback Default: N/A

Generally, the feedback message from the controller server, which contains the current tracking error information. Though, it may be populated by another source or topic if need be.

Example

<IsWithinPathTrackingBounds max_error_left="0.5" max_error_right="0.5"
                            max_error_heading="3.14" tracking_feedback="{tracking_feedback}"/>