AssistedTeleop

Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist commands to prevent collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior. The nav2_behaviors module implements the AssistedTeleop action server.

Input Ports

is_recovery:

Type	Default
double	false

Description: If true increment the recovery counter.

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).

error_code_id:

Type	Default
uint16	N/A

Description: Assisted teleop error code. See AssistedTeleop action message for the enumerated set of error codes.

Example

<AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10" error_code_id="{assisted_teleop_error_code}"/>