Added missing conditions to nav2_tree_nodes (ros-navigation#3401)

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes * Update nav2_tree_nodes.xml --------- Co-authored-by: blanker <[email protected]>
StratomInc · Feb 23, 2023 · 473492f · 473492f
1 parent e33438a
commit 473492f
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -247,6 +247,24 @@
       <input_port name="server_timeout"> Server timeout </input_port>
     </Condition>
 
+    <Condition ID="WouldAControllerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldAPlannerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldASmootherRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="AreErrorCodesPresent">
+      <input_port name="error_code">Error code</input_port>
+      <input_port name="error_codes_to_check">Error codes to check, user defined</input_port>
+    </Condition>
+
+
     <!-- ############################### CONTROL NODES ################################ -->
     <Control ID="PipelineSequence"/>