Motion Executor

Motion Executor Node

Node containing two action servers

ACTION SERVERS

Path Follower

/motion_executor/path_follower

Used without the controller to implement pure path following on a robot.

Usage:

• To follow a path from file:

ros2 action send_goal /motion_executor/path_follower kompass_interfaces/action/FollowPath "{request: {path_source: 1, path_name: 'path_name', path_file_location: '/dir_to/paths', robot_cmd_topic: '/cmd_vel'}}"

• To follow a path from topic:

ros2 action send_goal /motion_executor/path_follower kompass_interfaces/action/FollowPath "{request: {path_source: 0, path_name: '/path', robot_cmd_topic: '/cmd_vel'}}"

Path Tracker

/motion_executor/path_tracker

Used in combination with the controller. The controller node calls this action to get reference commands during motion control.

PARAMETERS

parameter name	type	default value	description

SUBSCRIBED TOPICS

message type	default topic name	description

PUBLISHED TOPICS

message type	topic name	description