ComputeAndTrackRoute

This is a ROS action definition.

Source

#goal definition
uint16 start_id
geometry_msgs/PoseStamped start
uint16 goal_id
geometry_msgs/PoseStamped goal

bool use_start # Whether to use the start field or find the start pose in TF
bool use_poses # Whether to use the poses or the IDs fields for request
---
#result definition

# Error codes
uint16 NONE=0
uint16 UNKNOWN=400
uint16 TF_ERROR=401
uint16 NO_VALID_GRAPH=402
uint16 INDETERMINANT_NODES_ON_GRAPH=403
uint16 TIMEOUT=404
uint16 NO_VALID_ROUTE=405
uint16 OPERATION_FAILED=406
uint16 INVALID_EDGE_SCORER_USE=407

builtin_interfaces/Duration execution_duration
uint16 error_code 0
string error_msg
---
#feedback definition
uint16 last_node_id
uint16 next_node_id
uint16 current_edge_id
Route route
nav_msgs/Path path
string[] operations_triggered
bool rerouted