git commit -m "first commit"

navigations/move_base_flex/mbf_msgs/action/ExePath.action

@@ -0,0 +1,60 @@
+# Follow the given path until completion or failure
+
+nav_msgs/Path path
+
+# Controller to use; defaults to the first one specified on "controllers" parameter
+string controller
+
+# use different slots for concurrency
+uint8 concurrency_slot
+
+# Optionally overrule goal tolerances
+bool tolerance_from_action
+float32 dist_tolerance
+float32 angle_tolerance
+
+---
+
+# Predefined success codes:
+uint8 SUCCESS         = 0
+# 1..9 are reserved as plugin specific non-error results
+
+# Predefined error codes:
+uint8 FAILURE         = 100  # Unspecified failure, only used for old, non-mfb_core based plugins
+uint8 CANCELED        = 101
+uint8 NO_VALID_CMD    = 102
+uint8 PAT_EXCEEDED    = 103
+uint8 COLLISION       = 104
+uint8 OSCILLATION     = 105
+uint8 ROBOT_STUCK     = 106
+uint8 MISSED_GOAL     = 107
+uint8 MISSED_PATH     = 108
+uint8 BLOCKED_PATH    = 109
+uint8 INVALID_PATH    = 110
+uint8 TF_ERROR        = 111
+uint8 NOT_INITIALIZED = 112
+uint8 INVALID_PLUGIN  = 113
+uint8 INTERNAL_ERROR  = 114
+uint8 OUT_OF_MAP      = 115  # The start and / or the goal are outside the map
+uint8 MAP_ERROR       = 116  # The map is not running properly
+uint8 STOPPED         = 117  # The controller execution has been stopped rigorously.
+
+# 121..149 are reserved as plugin specific errors
+
+uint32 outcome
+string message
+
+geometry_msgs/PoseStamped  final_pose
+float32 dist_to_goal
+float32 angle_to_goal
+
+---
+
+# Outcome of most recent controller cycle. Same values as in result
+uint32 outcome
+string message
+
+float32 dist_to_goal
+float32 angle_to_goal
+geometry_msgs/PoseStamped  current_pose
+geometry_msgs/TwistStamped last_cmd_vel  # last command calculated by the controller

navigations/move_base_flex/mbf_msgs/action/GetPath.action

@@ -0,0 +1,55 @@
+# Get a path from start_pose or current position to the target pose
+
+# Use start_pose or current position as the beginning of the path
+bool use_start_pose
+
+# The start pose for the path; optional, used if use_start_pose is true
+geometry_msgs/PoseStamped start_pose
+
+# The pose to achieve with the path
+geometry_msgs/PoseStamped target_pose
+
+# Planner to use; defaults to the first one specified on "planners" parameter
+string planner
+
+# use different slots for concurrency
+uint8 concurrency_slot
+
+# Optional: how many meters/radians away from the goal can end the created path. The final pose of the
+# path must be within tolerance range (position and orientation) for MBF to return a success outcome.
+bool tolerance_from_action
+float32 dist_tolerance
+float32 angle_tolerance
+
+---
+
+# Predefined success codes:
+uint8 SUCCESS         = 0
+# 1..9 are reserved as plugin specific non-error results
+
+# Possible error codes:
+uint8 FAILURE         = 50  # Unspecified failure, only used for old, non-mfb_core based plugins
+uint8 CANCELED        = 51  # The action has been canceled by a action client
+uint8 INVALID_START   = 52  #
+uint8 INVALID_GOAL    = 53
+uint8 NO_PATH_FOUND   = 54
+uint8 PAT_EXCEEDED    = 55
+uint8 EMPTY_PATH      = 56
+uint8 TF_ERROR        = 57
+uint8 NOT_INITIALIZED = 58
+uint8 INVALID_PLUGIN  = 59
+uint8 INTERNAL_ERROR  = 60
+uint8 OUT_OF_MAP      = 61
+uint8 MAP_ERROR       = 62
+uint8 STOPPED         = 63  # The planner execution has been stopped rigorously.
+
+# 71..99 are reserved as plugin specific errors
+
+uint32 outcome
+string message
+
+nav_msgs/Path path
+
+float64 cost
+
+---

navigations/move_base_flex/mbf_msgs/action/MoveBase.action

@@ -0,0 +1,60 @@
+# Extension of move_base_msgs/MoveBase action, with more detailed result
+# and feedback and the possibility to specify lists of applicable plugins
+
+geometry_msgs/PoseStamped target_pose
+
+# Controller to use; defaults to the first one specified on "controllers" parameter
+string controller
+
+# Planner to use; defaults to the first one specified on "planners" parameter
+string planner
+
+# Recovery behaviors to try on case of failure; defaults to the "recovery_behaviors" parameter value
+string[] recovery_behaviors
+
+# Optionally overrule controller's goal tolerances
+bool tolerance_from_action
+float32 dist_tolerance
+float32 angle_tolerance
+
+---
+
+# Predefined success codes:
+uint8 SUCCESS        = 0
+
+# Predefined general error codes:
+uint8 FAILURE        = 10
+uint8 CANCELED       = 11
+uint8 COLLISION      = 12
+uint8 OSCILLATION    = 13
+uint8 START_BLOCKED  = 14
+uint8 GOAL_BLOCKED   = 15
+uint8 TF_ERROR       = 16
+uint8 INTERNAL_ERROR = 17
+# 21..49 are reserved for future general error codes
+
+# Planning/controlling failures:
+uint8 PLAN_FAILURE   = 50
+# 51..99 are reserved as planner specific errors
+
+uint8 CTRL_FAILURE   = 100
+# 101..149 are reserved as controller specific errors
+
+uint32 outcome
+string message
+
+# Configuration upon action completion
+float32 dist_to_goal
+float32 angle_to_goal
+geometry_msgs/PoseStamped final_pose
+
+---
+
+# Outcome of most recent controller cycle. Same values as in MoveBase or ExePath result.
+uint32 outcome
+string message
+
+float32 dist_to_goal
+float32 angle_to_goal
+geometry_msgs/PoseStamped current_pose
+geometry_msgs/TwistStamped last_cmd_vel  # last command calculated by the controller

navigations/move_base_flex/mbf_msgs/action/Recovery.action

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+# Run one of the recovery behavior listed on recovery_behaviors parameter
+
+string behavior
+
+# use different slots for concurrency
+uint8 concurrency_slot
+
+---
+
+# Predefined success codes:
+uint8 SUCCESS         = 0
+
+# Possible server codes:
+uint8 FAILURE         = 150
+uint8 CANCELED        = 151
+uint8 PAT_EXCEEDED    = 152
+uint8 TF_ERROR        = 153
+uint8 NOT_INITIALIZED = 154
+uint8 INVALID_PLUGIN  = 155
+uint8 INTERNAL_ERROR  = 156
+uint8 STOPPED         = 157  # The recovery behaviour execution has been stopped rigorously.
+uint8 IMPASSABLE      = 158  # Further execution would lead to a collision
+
+# 171..199 are reserved as plugin specific errors
+
+uint32 outcome
+string message
+string used_plugin
+
+---