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
ComputePathThroughPosesaction 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}"/>