Total distance to backup (m). Backup speed (m/s). Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds). Disable collision checking. Action server name. If not specified, `backup` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Backup error code. See `BackUp` action message for the enumerated set of error codes. Backup error message. See `BackUp` action message for the enumerated set of error codes. Distance to travel (m). Speed at which to travel (m/s). Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds). Disable collision checking. Action server name. If not specified, `drive_on_heading` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Drive on heading error code. See `DriveOnHeading` action message for the enumerated set of error codes. Drive on heading error message. See `DriveOnHeading` action message for the enumerated set of error codes. Action server name to cancel the controller server. If not specified, `follow_path` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the backup behavior. If not specified, `backup` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the drive on heading behavior. If not specified, `drive_on_heading` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the spin behavior. If not specified, `spin` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the assisted teleop behavior. If not specified, `assisted_teleop` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the wait behavior. If not specified, `wait` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the route compute and tracker server. If not specified, `compute_and_track_route` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Action server name to cancel the follow object behavior. If not specified, `follow_object` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Costmap service name responsible for clearing the costmap. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Optional. A list of costmap plugin names to be cleared. If specified, only these costmap plugins and the master costmap will be cleared. Otherwise, the entire costmap will be cleared. Side size of the square area centered on the robot that will not be cleared on the costmap (all the rest of the costmap will). Costmap service name responsible for clearing the costmap. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Optional. A list of costmap plugin names to be cleared. If specified, only these costmap plugins will be cleared. Otherwise, all "clearable" costmap plugins will be cleared. Side size of the square area centered on the robot that will be cleared on the costmap (the rest of the costmap won't). Costmap service name responsible for clearing the costmap. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Optional. A list of costmap plugin names to be cleared. If specified, only these costmap plugins will be cleared. Otherwise, all "clearable" costmap plugins will be cleared. Pose around which to clear the costmap. Distance from the pose under which obstacles are cleared. Costmap service name responsible for clearing the costmap. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Optional. A list of costmap plugin names to be cleared. If specified, only these costmap plugins will be cleared. Otherwise, all "clearable" costmap plugins will be cleared. Start pose. Optional. Used as the planner start pose instead of the current robot pose, if `use_start` is not false (i.e. not provided or set to true). Takes in a blackboard variable, e.g. "{start}". Optional. For using or not using (i.e. ignoring) the provided start pose `start`. Takes in a blackboard variable, e.g. "{use_start}". Goal pose. Takes in a blackboard variable, e.g. "{goal}". Optional. A list of intermediate viapoints (excluding goal) to consider for planning. Takes in a blackboard variable, e.g. "{viapoints}". Mapped name to the planner plugin type to use, e.g. GridBased. Action server name. If not specified, `compute_path_to_pose` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Path created by action server. Takes in a blackboard variable, e.g. "{path}". Compute path to pose error code. See `ComputePathToPose` action message for the enumerated set of error codes. Compute path to pose error message. See `ComputePathToPose` action message for the enumerated set of error codes. Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}". Goal poses. Takes in a blackboard variable, e.g. "{goals}". Mapped name to the planner plugin type to use, e.g. GridBased. Action server name. If not specified, `compute_path_through_poses` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Path created by action server. Takes in a blackboard variable, e.g. "{path}". In the case of a partial plan, index of the last reached pose from the goals list. Otherwise -1 which also corresponds to ComputePathThroughPosesResult::ALL_GOALS if a full plan through all the goals was possible. Compute path through poses error code. See `ComputePathThroughPoses` action message for the enumerated set of error codes. Compute path through poses error message. See `ComputePathThroughPoses` action message for the enumerated set of error codes. Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}". Goal pose. Takes in a blackboard variable, e.g. "{goal}". Start node ID to use. Goal node ID to use. Whether to use the start or use TF to obtain the robot's start pose. Whether to use the start and goal poses or start and goal node IDs. Action server name. If not specified, `compute_route` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Route created by action server. Takes in a blackboard variable, e.g. "{route}". Path created by action server. Takes in a blackboard variable, e.g. "{path}". Time it took to compute the route. Compute route error code. See `ComputeRoute` action message for the enumerated set of error codes. Compute route error message. See `ComputeRoute` action message for the enumerated set of error codes. Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}". Goal pose. Takes in a blackboard variable, e.g. "{goal}". Start node ID to use. Goal node ID to use. Whether to use the start or use TF to obtain the robot's start pose. Whether to use the start and goal poses or start and goal node IDs. Action server name. If not specified, `compute_and_track_route` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Time it took to compute the route. ID of the previous node. ID of the next node. ID of the current edge. List of RouteNodes to go from start to end. Path created by ComputeAndTrackRoute node. Whether the plan has rerouted. Compute route error code. See `ComputeAndTrackRoute` action message for the enumerated set of error codes. Compute route error message. See `ComputeAndTrackRoute` action message for the enumerated set of error codes. The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed. Robot base frame. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). A vector of goals to check if it passed any in the current iteration. Original waypoint_statuses to mark waypoint status from. A vector of goals with goals removed in proximity to the robot. Waypoint_statuses with passed waypoints marked. A vector of goals to check if in collision. The cost threshold above which a waypoint is considered in collision and should be removed. If `use_footprint = false`, consider setting to 253 for occupied. Whether to use the footprint cost or the point cost. Whether to consider unknown cost (255) as obstacle. Original waypoint_statuses to mark waypoint status from. Costmap service name responsible for getting the cost. If not specified, `/global_costmap/get_cost_global_costmap` is used. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). A vector of goals containing only those that are not in collision. waypoint_statuses with in-collision waypoints marked. The blackboard variable or hard-coded input path to smooth. Maximum time to smooth for (seconds). Whether to check the output smoothed path for collisions. The smoother plugin ID to use for smoothing in the smoother server. Action server name. If not specified, `smooth_path` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). The output blackboard variable to assign the smoothed path to. The actual duration used for smoothing. Indicates if the smoothing process was completed. Will return `false` if `check_for_collisions` is set to `true` and a collision is detected. Follow smoother error code. See `SmoothPath` action for the enumerated set of error code definitions. Follow smoother error message. See `SmoothPath` action for the enumerated set of error code definitions. Takes in a blackboard variable containing the path to follow, eg. "{path}". Mapped name of the controller plugin type to use, e.g. FollowPath. Mapped name of the goal checker plugin type to use, e.g. SimpleGoalChecker. Mapped name of the progress checker plugin type to use, e.g. SimpleProgressChecker. Mapped name of the path handler plugin type to use, e.g. FeasiblePathHandler. Action server name. If not specified, `follow_path` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Tracking feedback message from the controller server, including cross track error, current path index, remaining path length, etc. Follow path error code. See `FollowPath` action for the enumerated set of error code definitions. Follow path error message. See `FollowPath` action for the enumerated set of error code definitions. Topic to publish the pose of the object to follow. The maximum duration to follow the object (Optional). Target frame to follow (Optional, used if pose_topic is not set). Action server name. If not specified, `follow_object` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Total elapsed time. Follow object error code. See `FollowObject` action for the enumerated set of error code definitions. Follow object error message. See `FollowObject` action for the enumerated set of error code definitions. Takes in a blackboard variable containing the goal, eg. "{goal}". Behavior tree absolute path or ID. If none is specified, NavigateToPose action server uses a default behavior tree. Action server name. If not specified, `navigate_to_pose` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). The lowest error code in the list of the `error_code_name_prefixes` + `_error_code` suffix parameter. The error messages associated with the lowest error code in the list of the `error_code_name_prefixes` + `_error_code` suffix parameter. Goal poses. Takes in a blackboard variable, e.g. "{goals}". Behavior tree absolute path or ID. If none is specified, NavigateThroughPoses action server uses a default behavior tree. Action server name. If not specified, `navigate_through_poses` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). The lowest error code in the list of the `error_code_name_prefixes` + `_error_code` suffix parameter. The error message associated with the lowest error code in the list of the `error_code_name_prefixes` + `_error_code` suffix parameter. Service name. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). The original path to be truncated. The distance to the original goal for truncating the path. The resulting truncated path. The original path to be truncated. The trimming distance in forward direction. Set to -1 to search full path forward. The trimming distance in backward direction. Robot base frame id. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). Robot pose lookup tolerance. Manually specified pose to be used alternatively to current robot pose. Weight of angular distance relative to positional distance when finding which path pose is closest to robot. Not applicable on paths without orientations assigned. Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to infinity (default), whole path is searched every time. The resulting truncated path. The name of the topic used to received select command messages. This is used to support multiple PlannerSelector nodes. The default value for the selected planner if no message is received from the input topic. The output selected planner id. This selected_planner string is usually passed to the ComputePathToPose behavior via the planner_id input port. The name of the topic used to received select command messages. This is used to support multiple ControllerSelector nodes. The default value for the selected Controller if no message is received from the input topic. The output selected Controller id. This selected_controller string is usually passed to the FollowPath behavior via the controller_id input port. The name of the topic used to received select command messages. This is used to support multiple SmootherSelector nodes. The default value for the selected Smoother if no message is received from the input topic. The output selected Smoother id. The name of the topic used to received select command messages. This is used to support multiple GoalCheckerSelector nodes. The default value for the selected GoalChecker if no message is received from the input topic. The output selected GoalChecker id. This selected_goal_checker string is usually passed to the FollowPath behavior via the goal_checker_id input port. The name of the topic used to received select command messages. This is used to support multiple ProgressCheckerSelector nodes. The default value for the selected ProgressChecker if no message is received from the input topic. The output selected ProgressChecker id. This selected_progress_checker string is usually passed to the FollowPath behavior via the progress_checker_id input port. The name of the topic used to received select command messages. This is used to support multiple PathHandlerSelector nodes. The default value for the selected PathHandler if no message is received from the input topic. The output selected PathHandler id. This selected_path_handler string is usually passed to the FollowPath behavior via the path_handler_id input port. Spin distance (radians). Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds). True if the action is being used as a recovery. Disable collision checking. Action server name. If not specified, `spin` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Spin error code. See `Spin` action message for the enumerated set of error codes. Spin error message. See `Spin` action message for the enumerated set of error codes. Wait time (s). Action server name. If not specified, `wait` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Wait error code. See `Wait` action message for the enumerated set of error codes. Wait error message. See `Wait` action message for the enumerated set of error codes. If true increment the recovery counter. Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds). Action server name. If not specified, `assisted_teleop` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Assisted teleop error code. See `AssistedTeleop` action message for the enumerated set of error codes. Assisted teleop error message. See `AssistedTeleop` action message for the enumerated set of error codes. Whether to use the dock's ID or dock pose fields. Dock ID or name to use. The dock pose, if not using dock id. The dock plugin type, if using dock pose. Maximum time to navigate to the staging pose. Whether to autonomously navigate to staging pose. Action server name. If not specified, `dock_robot` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). If the action was successful. The number of retries executed. Dock robot error code. See `DockRobot` action message for the enumerated set of error codes. Dock robot error message. See `DockRobot` action message for the enumerated set of error codes. The dock plugin type, if not previous instance used for docking. Maximum time to get back to the staging pose. Action server name. If not specified, `undock_robot` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). If the action was successful. Dock robot error code. See `UndockRobot` action message for the enumerated set of error codes. Dock robot error message. See `UndockRobot` action message for the enumerated set of error codes. Path to extract pose from. Index from path to use. Use `-1` to get the last pose, `-2` for second to last, and so on. Pose from path, with the Path's set header. Whether to enable or disable the collision monitor. Service name. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Robot base frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's `base_frame` parameter value (`base_link` by default). Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's `global_frame` parameter value (`map` by default). The current pose in the global frame. First path to concatenate. Second path to concatenate. Output concatenated path. Goal pose to append to the `goals` vector. Input goals vector to append to. Output goals vector appended to. Route to convert its `nodes` into Goals. Goals comparing the route's `nodes`. How many of the goals to take from the input goals. Input goals list. The output pruned goals list. Pose to check if it is occupied. The cost threshold above which a waypoint is considered in collision and should be removed. If `use_footprint = false`, consider setting to 253 for occupied. Whether to use the footprint cost or the point cost. Whether to consider unknown cost (255) as obstacle. Costmap service name responsible for getting the cost. If not specified, `/global_costmap/get_cost_global_costmap` is used. Action server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Velocity threshold below which robot is considered stopped. Duration (ms) the velocity must remain below the threshold. The global path to check for validity. The maximum allowable cost for the path to be considered valid. Whether to consider unknown cost (255) as obstacle. Name of the specific costmap layer to check against. If empty, checks against the full costmap. Custom footprint specification as a bracketed array of arrays, e.g., "[[x1,y1],[x2,y2],...]". If empty, uses the robot's configured footprint. Whether to stop validation at the first collision (true) or check all poses in the path (false). When false, all collision poses are reported. Maximum distance ahead of the robot along the path to validate. When set to -1.0 (default), the full path is validated. A positive value limits validation to only the portion of the path within that distance from the robot's current position. Costmap service name responsible for getting the cost. If not specified, `is_path_valid` is used. Service server timeout (ms). If not provided, uses the BT Navigator's `default_server_timeout` parameter value (20 ms by default). Vector of poses in the path that are in collision or invalid. Empty if the path is valid. Destination to check. Takes in a blackboard variable, e.g. "{goal}". The global reference frame is taken from the goal's header `frame_id` field. Robot base frame. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). Child frame for transform. Parent frame for transform. Destination to check. Takes in a blackboard variable, "{goal}" if not specified. Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. Destination to check. Takes in a blackboard variable, "{goal}" if not specified. Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. Min battery percentage or voltage before triggering. Topic for battery info. If true voltage will be used to check for low battery. Topic for battery info. The distance that must travel before returning success (m). Reference frame. If not provided, uses the BT Navigator's `global_frame` parameter value (`map` by default). Robot base frame. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). The time passed to return success (s). Time to check if expired. Check if path has been updated to enable timer reset. Success if the value in the port is true. Takes in a blackboard variable, "{initial_pose_received}" if not specified. The active error code to compare against. This should match the controller server error code. The set of controller server error codes you wish to compare against the active error code. The active error code to compare against. This should match the planner server error code. The set of planner server error codes you wish to compare against the active error code. The active error code to compare against. This should match the smoother server error code. The set of smoother server error codes you wish to compare against the active error code. The active error code to compare against. This should match the route server error code. The set of route server error codes you wish to compare against the active error code. The active error code to compare against. The set of error codes you wish to compare against the active error code. Takes in a blackboard variable containing the initial pose to check. Takes in a blackboard variable containing the other pose to check against. Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's `global_frame` parameter value (`map` by default). Tolerance to check poses if nearby with respect to. The planned path to evaluate. The remaining path length (in meters) considered as "nearby". When the remaining distance along the path is less than this threshold, the condition returns SUCCESS. Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to a negative value (default), the entire path is searched every time. Setting this to a positive value (e.g., 1.0-2.0 meters) can improve performance when this BT node is ticked frequently to address looping or crossed paths (when present). The global reference frame. If not provided, uses the BT Navigator's `global_frame` parameter value (`map` by default). Robot base frame. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). Maximum allowable tracking error (m) on the left side of the path before returning FAILURE. Must be a positive value. Maximum allowable tracking error (m) on the right side of the path before returning FAILURE. Must be a positive value. Maximum allowable heading error (rad) before returning FAILURE. Must be a positive value. Generally, the feedback message from the controller server, which contains the current tracking error information. Though, it may be populated by another source or topic if need be. Number of retries. Controls wrap-around behavior. When `false`, the node returns FAILURE instead of wrapping to the first child after all children have been attempted. When `true`, the node wraps around to the first child and continues the round-robin behavior. Service to call to pause. Service to call to resume. The index of the current child. Rate to throttle an action or a group of actions. The distance travelled to trigger an action such as planning a path (m). Reference frame. If not provided, uses the BT Navigator's `global_frame` parameter value (`map` by default). Robot base frame. If not provided, uses the BT Navigator's `robot_base_frame` parameter value (`base_link` by default). The original goal pose. The original goals poses. The resulting updated goal. If no goal received by subscription, it will be the input_goal. The resulting updated goals. If no goals received by subscription, it will be the input_goals. The minimum rate at which child node can be ticked (hz). The maximum rate at which child node can be ticked (hz). The minimum robot speed below which the child node is ticked at minimum rate (m/s). The maximum robot speed above which the child node is ticked at maximum rate (m/s). Destination to check. Takes in a blackboard variable, "{goal}" if not specified. Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. Path created by action server. Takes in a blackboard variable, e.g. "{path}". Proximity length (m) for the path to be longer on approach. Length multiplication factor to check if the path is significantly longer. Destination to check. Takes in a blackboard variable, "{goal}" if not specified. Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.