InputAtWaypoint

Lets robot to wait for external input, with timeout, at a waypoint.

Parameters

<nav2_waypoint_follower plugin>: nav2_waypoint_follower plugin name defined in the waypoint_task_executor_plugin_id parameter in Waypoint Follower.

<nav2_waypoint_follower plugin>.enabled:
 
Type Default
bool true
Description

Whether waypoint_task_executor plugin is enabled.

<nav2_waypoint_follower plugin>.timeout:
 
Type Default
double 10.0
Description

Amount of time in seconds to wait for user input before moving on to the next waypoint.

<nav2_waypoint_follower plugin>.input_topic:
 
Type Default
string “input_at_waypoint/input”
Description

Topic input is published to to indicate to move to the next waypoint, in std_msgs/Empty.