ComputePathThroughPoses

Invokes the ComputePathThroughPoses ROS 2 action server, which is implemented by the nav2_planner module. The server address can be remapped using the server_name input port.

Input Ports

start:

Type	Default
geometry_msgs::msg::PoseStamped	N/A

Description: Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. “{start}”.

goals:

Type	Default
vector<geometry_msgs::msg::PoseStamped>	N/A

Description: Goal poses. Takes in a blackboard variable, e.g. “{goals}”.

planner_id:

Type	Default
string	N/A

Description: Mapped name to the planner plugin type to use, e.g. GridBased.

server_name:

Type	Default
string	N/A

Description: Action server name.

server_timeout:

Type	Default
double	10

Description: Action server timeout (ms).

Output Ports

path:

Type	Default
nav_msgs::msg::Path	N/A

Description: Path created by action server. Takes in a blackboard variable, e.g. “{path}”.

error_code_id:

Type	Default
uint16	N/A

Description: Compute path through poses error code. See ComputePathThroughPoses action message for the enumerated set of error codes.

Example

<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased" server_name="ComputePathThroughPoses" server_timeout="10" error_code_id="{compute_path_error_code}"/>