FollowPath¶

Invokes the FollowPath ROS 2 action server, which is implemented by the controller plugin modules loaded. The server address can be remapped using the server_name input port.

Input Ports¶

path:

Type	Default
string	N/A

Description: Takes in a blackboard variable containing the path to follow, eg. “{path}”.

controller_id:

Type	Default
string	N/A

Description: Mapped name of the controller plugin type to use, e.g. FollowPath.

goal_checker_id:

Type	Default
string	N/A

Description: Mapped name of the goal checker plugin type to use, e.g. SimpleGoalChecker.

server_name:

Type	Default
string	N/A

Description: Action server name.

server_timeout:

Type	Default
double	10

Description: Action server timeout (ms).

Example¶

<FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="precise_goal_checker" server_name="FollowPath" server_timeout="10"/>