Add string error_msg to all action result messages (#4341) (#4459)

Signed-off-by: Mike Wake <[email protected]>
ros-navigation · Jun 26, 2024 · d45985a · d45985a
1 parent 4fe7156
commit d45985a
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Showing 16 changed files with 18 additions and 2 deletions.
diff --git a/nav2_msgs/action/AssistedTeleop.action b/nav2_msgs/action/AssistedTeleop.action
@@ -12,6 +12,7 @@ uint16 TF_ERROR=732
 
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
diff --git a/nav2_msgs/action/BackUp.action b/nav2_msgs/action/BackUp.action
@@ -17,6 +17,7 @@ uint16 COLLISION_AHEAD=714
 
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 float32 distance_traveled
diff --git a/nav2_msgs/action/ComputePathThroughPoses.action b/nav2_msgs/action/ComputePathThroughPoses.action
@@ -23,5 +23,6 @@ uint16 NO_VIAPOINTS_GIVEN=309
 nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action
@@ -22,5 +22,6 @@ uint16 NO_VALID_PATH=208
 nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_msgs/action/DockRobot.action b/nav2_msgs/action/DockRobot.action
@@ -26,7 +26,7 @@ uint16 UNKNOWN=999
 bool success True  # docking success status
 uint16 error_code 0  # Contextual error code, if any
 uint16 num_retries 0  # Number of retries attempted
-
+string error_msg
 ---
 #feedback definition
 

diff --git a/nav2_msgs/action/DriveOnHeading.action b/nav2_msgs/action/DriveOnHeading.action
@@ -17,6 +17,7 @@ uint16 INVALID_INPUT=724
 
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 float32 distance_traveled
diff --git a/nav2_msgs/action/DummyBehavior.action b/nav2_msgs/action/DummyBehavior.action
@@ -4,5 +4,6 @@ std_msgs/String command
 #result definition
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_msgs/action/FollowGPSWaypoints.action b/nav2_msgs/action/FollowGPSWaypoints.action
@@ -12,6 +12,8 @@ uint16 UNKNOWN=600
 uint16 TASK_EXECUTOR_FAILED=601
 
 MissedWaypoint[] missed_waypoints
+int16 error_code
+string error_msg
 ---
 #feedback
 uint32 current_waypoint
diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action
@@ -19,6 +19,7 @@ uint16 NO_VALID_CONTROL=106
 
 std_msgs/Empty result
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 float32 distance_to_goal

diff --git a/nav2_msgs/action/FollowWaypoints.action b/nav2_msgs/action/FollowWaypoints.action
@@ -12,6 +12,8 @@ uint16 UNKNOWN=600
 uint16 TASK_EXECUTOR_FAILED=601
 
 MissedWaypoint[] missed_waypoints
+uint16 error_code
+string error_msg
 ---
 #feedback definition
 uint32 current_waypoint
diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action
@@ -10,6 +10,7 @@ string behavior_tree
 uint16 NONE=0
 
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 geometry_msgs/PoseStamped current_pose

diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action
@@ -9,6 +9,7 @@ string behavior_tree
 uint16 NONE=0
 
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 geometry_msgs/PoseStamped current_pose

diff --git a/nav2_msgs/action/SmoothPath.action b/nav2_msgs/action/SmoothPath.action
@@ -20,5 +20,6 @@ nav_msgs/Path path
 builtin_interfaces/Duration smoothing_duration
 bool was_completed
 uint16 error_code
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_msgs/action/Spin.action b/nav2_msgs/action/Spin.action
@@ -14,6 +14,7 @@ uint16 COLLISION_AHEAD=703
 
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 float32 angular_distance_traveled
diff --git a/nav2_msgs/action/UndockRobot.action b/nav2_msgs/action/UndockRobot.action
@@ -20,6 +20,6 @@ uint16 UNKNOWN=999
 
 bool success True  # docking success status
 uint16 error_code 0  # Contextual error code, if any
-
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action
@@ -4,6 +4,7 @@ builtin_interfaces/Duration time
 #result definition
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
 builtin_interfaces/Duration time_left