Class FollowPathAction

• Defined in File follow_path_action.hpp

Inheritance Relationships

Base Type

• public nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath > (Template Class BtActionNode)

Class Documentation

class FollowPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::FollowPath>

A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath.

Public Functions

FollowPathAction(const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::FollowPathAction.

Parameters:

• xml_tag_name – Name for the XML tag for this node

• action_name – Action name this node creates a client for

• conf – BT node configuration

virtual void on_tick() override

Function to perform some user-defined operation on tick.

void on_wait_for_result(std::shared_ptr<const nav2_msgs::action::FollowPath::Feedback> feedback) override

Function to perform some user-defined operation after a timeout waiting for a result that hasn’t been received yet.

Parameters:

feedback – shared_ptr to latest feedback message

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports