NavigateToPose

Invokes the NavigateToPose ROS 2 action server, which is implemented by the bt_navigator module.

Input Ports

goal:

Type	Default
PoseStamped	N/A

Description

Takes in a blackboard variable containing the goal, eg. “{goal}”.

server_name:

Type	Default
string	N/A

Description

Action server name.

server_timeout:

Type	Default
double	10

Description

Action server timeout (ms).

behavior_tree:

Type	Default
string	N/A

Description

Behavior tree absolute path. If none is specified, NavigateToPose action server uses a default behavior tree.

Output Ports

error_code_id:

Type	Default
uint16	N/A

Description

The lowest error code in the list of the error_code_names parameter.

Example

<NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10" error_code_id="{navigate_to_pose_error_code}"
                behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>