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navigator_thread: setting errorcode as feedback #388

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navigator_thread: setting errorcode as feedback #388

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7 changes: 5 additions & 2 deletions src/plugins/ros2/navigator_thread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,8 +199,6 @@ ROS2NavigatorThread::send_goal()

case rclcpp_action::ResultCode::ABORTED: {
nav_if_->set_final(true);
nav_if_->set_error_code(NavigatorInterface::ERROR_PATH_GEN_FAIL);
nav_if_->write();
std::stringstream ss;
for (std::size_t i = 0; i < 16; i++) {
if (i != 0) {
Expand All @@ -211,7 +209,12 @@ ROS2NavigatorThread::send_goal()
logger->log_warn(name(), ("Aborted goal with id: " + ss.str()).c_str());

auto val = result.result;
logger->log_error(name(), "Navigation Goal failed with error_code: %d", val->error_code);

uint32_t error_code = (uint32_t)val->error_code;

nav_if_->set_error_code(error_code);
nav_if_->write();
} break;

case rclcpp_action::ResultCode::CANCELED: {
Expand Down