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Merged
SteveMacenski merged 5 commits into from
Nov 1, 2022
Merged

follow path exceptions #352

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6364770
follow path exceptions
Oct 14, 2022
653ad6a
output port line
Oct 14, 2022
71baa1d
Update configuration/packages/bt-plugins/actions/FollowPath.rst
jwallace42 Oct 16, 2022
7c6629f
condense
Oct 16, 2022
394a852
Merge branch 'master' into follow_path_error_code
SteveMacenski Nov 1, 2022
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15 changes: 15 additions & 0 deletions configuration/packages/bt-plugins/actions/FollowPath.rst
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Expand Up @@ -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
-------

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4 changes: 4 additions & 0 deletions migration/Humble.rst
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Expand Up @@ -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 <https://github.com/ros-planning/navigation2/pull/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
***************

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