diff --git a/configuration/packages/bt-plugins/actions/FollowPath.rst b/configuration/packages/bt-plugins/actions/FollowPath.rst index a22b65796a..519d63adcd 100644 --- a/configuration/packages/bt-plugins/actions/FollowPath.rst +++ b/configuration/packages/bt-plugins/actions/FollowPath.rst @@ -65,6 +65,21 @@ Input Ports Description Action server timeout (ms). + +Output Ports +------------ + +:follow_path_error_code: + + ============== ======= + Type Default + -------------- ------- + int16 N/A + ============== ======= + + Description + Follow path error code. See ``FollowPath`` action for the enumerated set of error code definitions. + Example ------- diff --git a/migration/Humble.rst b/migration/Humble.rst index 9a442c12a4..7a84cc947b 100644 --- a/migration/Humble.rst +++ b/migration/Humble.rst @@ -57,6 +57,10 @@ The following errors codes are supported (with more to come as necessary): Unkno The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, No Valid Path Found and No Waypoints given. +`PR #3227 `_ updates the controllers to throw exceptions on failures. These exceptions get reported back to the controller server which in turn places a error code on the Behavior Tree Navigatior's blackboard for use in contextual error handling in the autonomy application. + +The following error codes are supported (with more to come as necessary): Unknown, TF Error, Invalid Path, Patience Exceeded, Failed To Make Progress, or No Valid Control. + Costmap Filters ***************