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).
Output Ports¶
- error_code_id
Type
Default
uint16
N/A
- Description
Follow path error code. See
FollowPathaction for the enumerated set of error code definitions.
Example¶
<FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="precise_goal_checker" server_name="FollowPath" server_timeout="10" error_code_id="{follow_path_error_code}"/>