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Pana1v wants to merge 1 commit into from
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Panav/feat/navigate to pose feedback #5592

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14 changes: 13 additions & 1 deletion nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,9 +102,21 @@ NavigateToPoseNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal)

void
NavigateToPoseNavigator::goalCompleted(
typename ActionT::Result::SharedPtr /*result*/,
typename ActionT::Result::SharedPtr result,
const nav2_behavior_tree::BtStatus /*final_bt_status*/)
{
if (result->error_code == 0) {
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@SteveMacenski SteveMacenski Oct 8, 2025 •
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Error codes and messages do not exist in Humble, thus I think this PR is unfortunately invalid and cannot be merged in any form 😦

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@Pana1v Pana1v Oct 8, 2025

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Thanks, this is enabled in humble_main, tuned for the next release!.

Closing this PR

if (bt_action_server_->populateInternalError(result)) {
RCLCPP_WARN(logger_,
"NavigateToPoseNavigator::goalCompleted, internal error %d:%s.",
result->error_code,
result->error_msg.c_str());
}
} else {
RCLCPP_WARN(logger_, "NavigateToPoseNavigator::goalCompleted error %d:%s.",
result->error_code,
result->error_msg.c_str());
}
}

void
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