Following are the details of the interfaces provided by the Nav2 Capabilities package. A runner that intends to connect with one of these interfaces should support the input and ouput parameters described below.
Input Parameters:
| Parameter Name | Type | Description |
|---|---|---|
| map | string | Frame id of the map |
| odom | string | Frame id of the odometry |
| robot | string | Frame id of the robot |
| time_buffer | double | TF lookup timeout in seconds before the runner reports failure |
Output Parameters:
| Parameter Name | Type | Description |
|---|---|---|
| x | double | The x coordinate of the robot's pose |
| y | double | The y coordinate of the robot's pose |
| z | double | The z coordinate of the robot's pose |
| qx | double | The x coordinate of the robot's orientation in quaternion |
| qy | double | The y coordinate of the robot's orientation in quaternion |
| qz | double | The z coordinate of the robot's orientation in quaternion |
| qw | double | The w coordinate of the robot's orientation in quaternion |
Input Parameters:
| Parameter Name | Type | Description |
|---|---|---|
| x | double | The x coordinate of the robot's goal |
| y | double | The y coordinate of the robot's goal |
| z | double | The z coordinate of the robot's goal |
| qx | double | The x coordinate of the robot's goal orientation in quaternion |
| qy | double | The y coordinate of the robot's goal orientation in quaternion |
| qz | double | The z coordinate of the robot's goal orientation in quaternion |
| qw | double | The w coordinate of the robot's goal orientation in quaternion |
Output Parameters:
None