NavigateToPosition.action

# Request

# Drive to goal position in odometry frame using simple rotate/translate/rotate approach
geometry_msgs/PoseStamped goal_pose
# Whether to achieve goal heading for final orientation or just use position
bool achieve_goal_heading
# Max translation speed (positive m/s), will cap negative distance to negative speed
float32 max_translation_speed 0.3
# Max rotation speed (positive rad/s), will cap negative angle to negative speed
float32 max_rotation_speed 1.9
---
# Result
# Pose where robot finished
geometry_msgs/PoseStamped pose
---
# Feedback
# Whether robot is in first phase rotating to face travel direction to goal position
int8 ROTATING_TO_GOAL_POSITION = 1
# Whether robot is in second phase translating to to goal position
int8 DRIVING_TO_GOAL_POSITION = 2
# Whether robot is in third phase rotating to face goal orientation
int8 ROTATING_TO_GOAL_ORIENTATION = 3
# Which of the 3 phases above that robot is currently in
int8 navigate_state
# Remaining radians to rotate when robot is ROTATING_TO_GOAL_POSITION or ROTATING_TO_GOAL_ORIENTATION
float32 remaining_angle_travel
# How much distance is left to travel when robot is DRIVING_TO_GOAL_POSITION
float32 remaining_travel_distance