DriveOnHeading

Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement. It performs an linear translation by a given distance. The nav2_behaviors_ module implements the DriveOnHeading action server.

Input Ports

dist_to_travel

Type

Default

double

0.15

Description

Distance to travel (m).

speed

Type

Default

double

0.025

Description

Speed at which to travel (m/s).

time_allowance

Type

Default

double

10.0

Description

Time to envoke 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).

Example

<DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10"/>