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docs for compute path through poses updates #357

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Oct 31, 2022
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docs for compute path through poses updates #357

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11 changes: 11 additions & 0 deletions configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
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Expand Up @@ -80,6 +80,17 @@ Output Ports
Description
Path created by action server. Takes in a blackboard variable, e.g. "{path}".

:compute_path_through_poses_error_code:

============== =======
Type Default
-------------- -------
int16 N/A
============== =======

Description
Compute path through poses error code. See ``ComputePathThroughPoses`` action message for the enumerated set of error codes.

Example
-------

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4 changes: 4 additions & 0 deletions migration/Humble.rst
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Expand Up @@ -53,6 +53,10 @@ Feedback for Navigation Failures

The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, or No Valid Path Found.

`PR #3248 <https://github.com/ros-planning/navigation2/pull/3248>`_ updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application.

The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, No Valid Path Found and No Waypoints given.

Costmap Filters
***************

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