WouldAPlannerRecoveryHelp

Checks if the active planner server error code is UNKNOWN, NO_VALID_PATH, or TIMEOUT.

If the active error code is a match, the node returns SUCCESS. Otherwise, it returns FAILURE.

Input Ports

error_code

Type: uint16 Default: N/A

The active error code to compare against. This should match the planner server error code.

error_codes_to_check

Type: vector<int> Default: N/A

The set of planner server error codes you wish to compare against the active error code.

Example

<WouldAPlannerRecoveryHelp error_code="{compute_path_to_pose_error_code}"/>