change error code to GOAL_TRANSFORMATION_ERROR (ros-navigation#4341)

Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
aosmw · Oct 4, 2024 · 0ff7a1c · 0ff7a1c
1 parent 0be3f5b
commit 0ff7a1c
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -218,7 +218,7 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
  goal_pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
  feedback_utils_.transform_tolerance))
  {
- current_error_code_ = ActionT::Result::TF_ERROR;
+ current_error_code_ = ActionT::Result::GOAL_TRANSFORMATION_ERROR;
  current_error_msg_ =
  "Failed to transform a goal pose (" + std::to_string(i) + ") provided with frame_id '" +
  goal_pose.header.frame_id +

diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -231,7 +231,7 @@ NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
  goal->pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
  feedback_utils_.transform_tolerance))
  {
- current_error_code_ = ActionT::Result::TF_ERROR;
+ current_error_code_ = ActionT::Result::GOAL_TRANSFORMATION_ERROR;
  current_error_msg_ =
  "Failed to transform a goal pose provided with frame_id '" +
  goal->pose.header.frame_id +

diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action
@@ -9,7 +9,7 @@ string behavior_tree
 # Note: The expected priority order of the errors should match the message order
 uint16 NONE=0
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=901
-uint16 TF_ERROR=902
+uint16 GOAL_TRANSFORMATION_ERROR=902
 uint16 POSE_NOT_AVAILABLE=912
 uint16 UNKNOWN=999
 

diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action
@@ -8,7 +8,7 @@ string behavior_tree
 # Note: The expected priority order of the errors should match the message order
 uint16 NONE=0
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=901
-uint16 TF_ERROR=902
+uint16 GOAL_TRANSFORMATION_ERROR=902
 uint16 POSE_NOT_AVAILABLE=912
 uint16 UNKNOWN=999