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.