/navigate_through_waypoints

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/navigate_through_waypoints Quick Facts

Category

🧭 Navigation

Message type

pal_nav2_msgs/action/NavigateThroughWaypoints

Nav2 BT Navigator implemented for PAL robots. It integrates the functionalities of the Nav2 Navigate Through Poses documentation (see /navigate_through_poses) with the ones of the Nav2 Waypoint Follower documentation (see /follow_waypoints). It uses a Behavior Tree to navigate from a starting point, through a series of waypoints, eventually executing a list of Waypoint Actions upon each Waypoint arrival.

For more information, check the 🚩 Waypoint Navigation.

SERVER

• pal_bt_navigator_through_waypoints

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /navigate_through_waypoints pal_nav2_msgs/action/NavigateThroughWaypoints # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from pal_nav2_msgs.action import NavigateThroughWaypoints

class NavigateThroughWaypointsActionClient(Node):

    def __init__(self):
        super().__init__('navigate_through_waypoints_client')
        self._action_client = ActionClient(self, NavigateThroughWaypoints, '/navigate_through_waypoints')

    def send_goal(self, a, b):
        goal_msg = NavigateThroughWaypoints.Goal()

        # TODO: adapt to the action's parameters
        # check the pal_nav2_msgs/action/NavigateThroughWaypointsGoal message
        # definition for the possible goal parameters
        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = NavigateThroughWaypointsActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()