56 lines
1.6 KiB
Plaintext
Executable File
56 lines
1.6 KiB
Plaintext
Executable File
# 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
|
|
|
|
---
|