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"/>