# Follow the given path until completion or failure nav_msgs/Path path # Controller to use; defaults to the first one specified on "controllers" parameter string controller # use different slots for concurrency uint8 concurrency_slot # define goal tolerance for the action bool tolerance_from_action float32 dist_tolerance float32 angle_tolerance --- # Predefined success codes: uint8 SUCCESS = 0 # 1..9 are reserved as plugin specific non-error results # Predefined error codes: uint8 FAILURE = 100 # Unspecified failure, only used for old, non-mfb_core based plugins uint8 CANCELED = 101 uint8 NO_VALID_CMD = 102 uint8 PAT_EXCEEDED = 103 uint8 COLLISION = 104 uint8 OSCILLATION = 105 uint8 ROBOT_STUCK = 106 # The robot is not obeying the commanded velocity uint8 MISSED_GOAL = 107 # The robot has overshot the goal and cannot reach it anymore uint8 MISSED_PATH = 108 # The robot has diverged from the path and cannot rejoin it uint8 BLOCKED_GOAL = 109 # There's an obstacle at the goal uint8 BLOCKED_PATH = 110 # There's an obstacle on the path uint8 INVALID_PATH = 111 uint8 TF_ERROR = 112 uint8 NOT_INITIALIZED = 113 uint8 INVALID_PLUGIN = 114 uint8 INTERNAL_ERROR = 115 uint8 OUT_OF_MAP = 116 # The start and / or the goal are outside the map uint8 MAP_ERROR = 117 # The map is not available or not running properly uint8 STOPPED = 118 # The controller execution has been stopped rigorously uint8 ERROR_RANGE_START = 100 uint8 ERROR_RANGE_END = 149 # 121..149 are reserved as plugin specific errors: uint8 PLUGIN_ERROR_RANGE_START = 121 uint8 PLUGIN_ERROR_RANGE_END = 149 uint32 outcome string message geometry_msgs/PoseStamped final_pose float32 dist_to_goal float32 angle_to_goal --- # Outcome of most recent controller cycle. Same values as in result uint32 outcome string message float32 dist_to_goal float32 angle_to_goal geometry_msgs/PoseStamped current_pose geometry_msgs/TwistStamped last_cmd_vel # last command calculated by the controller