Document behavior tree error_code_name_prefixes, error_msg

ros-navigation · Aug 31, 2024 · 47c9846 · 47c9846
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diff --git a/behavior_trees/trees/follow_point.rst b/behavior_trees/trees/follow_point.rst
@@ -28,13 +28,13 @@ This behavior tree will execute infinitely in time until the navigation request
         <RateController hz="1.0">
           <Sequence>
             <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-              <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </GoalUpdater>
           <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
           </Sequence>
         </RateController>
         <KeepRunningUntilFailure>
-          <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
         </KeepRunningUntilFailure>
       </PipelineSequence>
     </BehaviorTree>

diff --git a/behavior_trees/trees/nav_through_poses_recovery.rst b/behavior_trees/trees/nav_through_poses_recovery.rst
@@ -47,7 +47,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
             <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
               <ReactiveSequence>
                 <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
-                <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+                <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
               </ReactiveSequence>
               <Sequence>
                 <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
@@ -56,7 +56,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
             </RecoveryNode>
           </RateController>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
             <Sequence>
               <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
               <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -75,9 +75,9 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
                 <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
                 <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
               </Sequence>
-              <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+              <Spin spin_dist="1.57" error_code_id="{spin_error_code} error_msg="{spin_error_msg}"/>
               <Wait wait_duration="5.0"/>
-              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
+              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
             </RoundRobin>
           </ReactiveFallback>
         </Sequence>

diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst
@@ -46,7 +46,7 @@ In conclusion, this particular BT would serve, both as an example and ready-to-u
           <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
           <RateController hz="1.0">
             <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
             </RecoveryNode>
           </RateController>
@@ -60,7 +60,7 @@ In conclusion, this particular BT would serve, both as an example and ready-to-u
               </RetryUntilSuccessful>
             </PathLongerOnApproach>
             <RecoveryNode number_of_retries="1" name="FollowPath">
-              <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+              <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
               <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
             </RecoveryNode>
           </ReactiveSequence>

diff --git a/behavior_trees/trees/nav_to_pose_recovery.rst b/behavior_trees/trees/nav_to_pose_recovery.rst
@@ -42,15 +42,15 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
           <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
           <RateController hz="1.0">
             <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
               <Sequence>
                 <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
                 <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
               </Sequence>
             </RecoveryNode>
           </RateController>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
             <Sequence>
               <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
               <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -69,9 +69,9 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
                 <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
                 <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
               </Sequence>
-              <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+              <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
               <Wait wait_duration="5.0"/>
-              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_code_id}"/>
+              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
             </RoundRobin>
           </ReactiveFallback>
         </Sequence>

diff --git a/...es/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst b/...es/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst
@@ -45,13 +45,13 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
                   </Inverter>
                   <IsPathValid path="{path}"/>
                 </ReactiveSequence>
-                <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+                <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
               </Fallback>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
             </RecoveryNode>
           </RateController>
           <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
-            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
           </RecoveryNode>
         </PipelineSequence>

diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.rst b/configuration/packages/bt-plugins/actions/AssistedTeleop.rst
@@ -44,7 +44,7 @@ Input Ports
   ====== =======
 
   Description
-    	Action server name.
+        Action server name.
 
 :server_timeout:
 
@@ -55,22 +55,34 @@ Input Ports
   ====== =======
 
   Description
-    	Action server timeout (ms).
+        Action server timeout (ms).
 
 :error_code_id:
 
   ============== =======
   Type           Default
   -------------- -------
-  uint16          N/A  
+  uint16          N/A
   ============== =======
 
   Description
-    	Assisted teleop error code. See ``AssistedTeleop`` action message for the enumerated set of error codes.
+        Assisted teleop error code. See ``AssistedTeleop`` action message for the enumerated set of error codes.
+
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  uint16          N/A
+  ============== =======
+
+  Description
+        Assisted teleop error message. See ``AssistedTeleop`` action message for the enumerated set of error codes.
 
 Example
 -------
 
 .. code-block:: xml
 
-  <AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10" error_code_id="{assisted_teleop_error_code}"/>
+  <AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10"
+                  error_code_id="{assisted_teleop_error_code}" error_msg="{assisted_teleop_error_msg}"/>
diff --git a/configuration/packages/bt-plugins/actions/BackUp.rst b/configuration/packages/bt-plugins/actions/BackUp.rst
@@ -21,7 +21,7 @@ Input Ports
   ====== =======
 
   Description
-    	Total distance to backup (m).
+        Total distance to backup (m).
 
 :backup_speed:
 
@@ -32,7 +32,7 @@ Input Ports
   ====== =======
 
   Description
-    	Backup speed (m/s).
+        Backup speed (m/s).
 
 :time_allowance:
 
@@ -54,7 +54,7 @@ Input Ports
   ====== =======
 
   Description
-    	Action server name.
+        Action server name.
 
 :server_timeout:
 
@@ -65,7 +65,7 @@ Input Ports
   ====== =======
 
   Description
-    	Action server timeout (ms).
+        Action server timeout (ms).
 
 Output Ports
 ------------
@@ -75,15 +75,27 @@ Output Ports
   ============== =======
   Type           Default
   -------------- -------
-  uint16          N/A  
+  uint16          N/A
   ============== =======
 
   Description
-    	Backup error code. See ``BackUp`` action message for the enumerated set of error codes.
+        Backup error code. See ``BackUp`` action message for the enumerated set of error codes.
+
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Backup error message. See ``BackUp`` action message for the enumerated set of error codes.
 
 Example
 -------
 
 .. code-block:: xml
 
-  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}"/>
+  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10"
+          error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst
@@ -20,7 +20,7 @@ Input Ports
   ===================================== =======
 
   Description
-    	Whether or not to generate a headland of the field or polygon to compute coverage of
+        Whether or not to generate a headland of the field or polygon to compute coverage of
 
 :generate_route:
 
@@ -31,7 +31,7 @@ Input Ports
   ============================================= =======
 
   Description
-    	Whether or not to generate a route, e.g. an ordered set of swaths
+        Whether or not to generate a route, e.g. an ordered set of swaths
 
 :generate_path:
 
@@ -42,7 +42,7 @@ Input Ports
   ============== =======
 
   Description
-      Whether or not to generate a path, e.g. adding path connectors to the ordered route
+        Whether or not to generate a path, e.g. adding path connectors to the ordered route
 
 :file_field:
 
@@ -53,7 +53,7 @@ Input Ports
   ============== =======
 
   Description
-    	The filepath to the field's GML file to use, if not specifying the field via ``polygons``
+        The filepath to the field's GML file to use, if not specifying the field via ``polygons``
 
 
 :file_field_id:
@@ -65,7 +65,7 @@ Input Ports
   ============== =======
 
   Description
-    	The ID of the field in the GML File to use, if multiple exist in the same file. This is the ordered number of the fields in the file.
+        The ID of the field in the GML File to use, if multiple exist in the same file. This is the ordered number of the fields in the file.
 
 :polygons:
 
@@ -101,7 +101,7 @@ Output Ports
   ========================== =======
 
   Description
-    	Path created by action server in the form of a navigation path. Takes in a blackboard variable, e.g. "{path}".
+        Path created by action server in the form of a navigation path. Takes in a blackboard variable, e.g. "{path}".
 
 :coverage_path:
 
@@ -123,13 +123,24 @@ Output Ports
   ============== =======
 
   Description
-    	Compute coverage error code. See ``ComputeCoveragePath`` action message for the enumerated set of error codes.
+        Compute coverage error code. See ``ComputeCoveragePath`` action message for the enumerated set of error codes.
+
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Compute coverage error message. See ``ComputeCoveragePath`` action message for the enumerated set of error codes.
 
 Example
 -------
 
 .. code-block:: xml
 
-  <ComputeCoveragePath file_field="{field_filepath}" nav_path="{path}" coverage_path="{cov_path}" server_name="ComputeCoverage" server_timeout="10" error_code_id="{compute_coverage_error_code}"/>
+  <ComputeCoveragePath file_field="{field_filepath}" nav_path="{path}" coverage_path="{cov_path}" server_name="ComputeCoverage" server_timeout="10" error_code_id="{compute_coverage_error_code}" error_msg="{compute_coverage_error_msg}"/>
 
-Note: the blackboard IDs for the path, error code, and more may be adjusted,but need to match the corresponding parameters in the ``CoverageNavigator`` plugin to set on the blackboard for use from the action server.
+Note: the blackboard IDs for the path, error code, and more may be adjusted, but need to match the corresponding parameters in the ``CoverageNavigator`` plugin to set on the blackboard for use from the action server.
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
@@ -91,9 +91,20 @@ Output Ports
   Description
     	Compute path through poses error code. See ``ComputePathThroughPoses`` action message for the enumerated set of error codes.
 
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+    	Compute path through poses error message. See ``ComputePathThroughPoses`` action message for the enumerated set of error codes.
+
 Example
 -------
 
 .. code-block:: xml
 
-  <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased" server_name="ComputePathThroughPoses" server_timeout="10" error_code_id="{compute_path_error_code}"/>
+  <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased" server_name="ComputePathThroughPoses" server_timeout="10" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>