Document bt_navigator error_code_name_prefixes and error_msg #587
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Signed-off-by: Mike Wake <[email protected]>
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SteveMacenski
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Sep 4, 2024
behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst
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Signed-off-by: Mike Wake <[email protected]>
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Signed-off-by: Steve Macenski <[email protected]>
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| A new parameter for the BT Navigator "error_code_name_prefixes" was introduced. It replaces the "error_code_id_names" parameter to support both an error code and an associated error message. Behavior tree elements that support an "error_code_id" and "error_msg" attribute, must have values that use the corresponding prefix with the suffix "_error_code" and "_error_msg" respectively. The error messages can then be viewed by applications calling Nav2 or its servers for handling specific errors with more contextual information than simply the error code. | ||
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| Thus, users must update their ``nav2_params.yaml`` to include this new format of specifying error message and code locations. |
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Please provide the example replacement YAML to:
error_code_name_prefixes:
- compute_path
- follow_path
from
error_code_names:
- compute_path_error_code
- follow_path_error_code
To be clear to users what this means, this is a pretty key 'mess up' alot of people will make without very clear instructions.
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Documents featured added to support returning Error codes and messages from failed NavigateToPose/NavigateThroughPoses actions ros-navigation/navigation2#4341