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