Add error_(code_id|msg) to opennav_docking_bt example (ros-navigation…

…#4341) Signed-off-by: Mike Wake <[email protected]>
aosmw · Feb 11, 2025 · a5422b6 · a5422b6
1 parent d84b5b7
commit a5422b6
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/nav2_docking/opennav_docking_bt/behavior_trees/application_example.xml b/nav2_docking/opennav_docking_bt/behavior_trees/application_example.xml
@@ -1,7 +1,7 @@
 <!--
   This Behavior Tree undocks the robot, performs some token application, then returns to the dock.
   Shown below is an example of how you could use dock & undock actions in your application.
-  
+
   Shown in the comment below is an example of how you could dock based on battery status as a possible common adaption:
   <ReactiveFallback name="DockIfBatteryLow">
     <inverter>
@@ -22,17 +22,17 @@
             <inverter>
               <IsBatteryCharging/>
             </inverter>
-            <UndockRobot dock_type="{dock_type}"/>
+            <UndockRobot dock_type="{dock_type}" error_code_id="{undock_robot_error_code}" error_msg="{undock_robot_error_msg}" />
           </ReactiveFallback>
           <!-- Token Application -->
-          <NavigateToPose goal="{picking_location}"/>
-          <Wait wait_duration="5"/>
-          <NavigateToPose goal="{placing_location}"/>
+          <NavigateToPose goal="{picking_location}" error_code_id="{nav_to_pose_error_code}" error_msg="{nav_to_pose_error_msg}"/>
           <Wait wait_duration="5"/>
+          <NavigateToPose goal="{placing_location}" error_code_id="{nav_to_pose__error_code}" error_msg="{nav_to_pose_error_msg}"/>
+          <Wait wait_duration="5" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
         </Sequence>
       </ForceSuccess>
       <!-- Always dock back at charger at end -->
-      <DockRobot dock_id="{dock_id}"/>
+      <DockRobot dock_id="{dock_id}" error_code_id="{dock_robot_error_code}" error_msg="{dock_robot_error_msg}"/>
     </Sequence>
   </BehaviorTree>
 </root>