add error_msg port to default behavior xml files (#4341)

ros-navigation · Jul 11, 2024 · 5ace62c · 5ace62c
1 parent bff815a
commit 5ace62c
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Showing 11 changed files with 26 additions and 26 deletions.
diff --git a/nav2_bt_navigator/behavior_trees/follow_point.xml b/nav2_bt_navigator/behavior_trees/follow_point.xml
@@ -10,13 +10,13 @@
       <RateController hz="1.0">
         <Sequence>
           <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
           </GoalUpdater>
          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
         </Sequence>
       </RateController>
       <KeepRunningUntilFailure>
-        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
       </KeepRunningUntilFailure>
     </PipelineSequence>
   </BehaviorTree>

diff --git a/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -21,13 +21,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -13,7 +13,7 @@
           <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
             <ReactiveSequence>
               <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
-              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </ReactiveSequence>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
@@ -22,7 +22,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -41,9 +41,9 @@
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -12,15 +12,15 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -39,9 +39,9 @@
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}" error_msg="{backup_codmsg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

diff --git a/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -13,7 +13,7 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
@@ -27,7 +27,7 @@
             </RetryUntilSuccessful>
           </PathLongerOnApproach>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
           </RecoveryNode>
         </ReactiveSequence>

diff --git a/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -19,13 +19,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <DistanceController distance="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </DistanceController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <GoalUpdatedController>
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </GoalUpdatedController>
-      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
@@ -14,10 +14,10 @@
             </Inverter>
             <IsPathValid path="{path}"/>
           </ReactiveSequence>
-          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
         </Fallback>
       </RateController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </SpeedController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </RateController>
-      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>