Add error_msg to (un)dock_robot bt (#4341)

Signed-off-by: Mike Wake <[email protected]>
ros-navigation · Jul 10, 2024 · 19c5b10 · 19c5b10
1 parent bc188ea
commit 19c5b10
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp
@@ -97,6 +97,8 @@ class DockRobotAction
           "success", "If the action was successful"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "Error code"),
+        BT::OutputPort<std::string>(
+          "error_msg", "Error message"),
         BT::OutputPort<ActionResult::_num_retries_type>(
           "num_retries", "The number of retries executed"),
       });

diff --git a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp
@@ -90,6 +90,8 @@ class UndockRobotAction
           "success", "If the action was successful"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "Error code"),
+        BT::OutputPort<error_msg>(
+          "error_msg", "Error message"),
       });
   }
 };