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}”.

Example

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