DriveOnHeading

Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance. The nav2_behaviors module implements the DriveOnHeading action server.

Input Ports

dist_to_travel:

Type	Default
double	0.15

Description: Distance to travel (m).

speed:

Type	Default
double	0.025

Description: Speed at which to travel (m/s).

time_allowance:

Type	Default
double	10.0

Description: Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).

server_name:

Type	Default
string	N/A

Description: Action server name.

server_timeout:

Type	Default
double	10

Description: Action server timeout (ms).

Output Ports

error_code_id:

Type	Default
uint16	N/A

Description: Drive on heading error code. See DriveOnHeading action message for the enumerated set of error codes.

Example

<DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}"/>