ComputePathToPose

Invokes the ComputePathToPose 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}”.

goal

Type

Default

geometry_msgs::msg::PoseStamped

N/A

Description

Goal pose. Takes in a blackboard variable, e.g. “{goal}”.

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 to pose error code. See ComputePathToPose action message for the enumerated set of error codes.

Example

<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" server_name="ComputePathToPose" server_timeout="10" error_code_id="{compute_path_error_code}"/>