msg/NetworkMission Documentation

File: clearpath_navigation_msgs/msg/NetworkMission.msg

# A Network of Paths mission

# Broadly the same as a standard Mission, but with additional fields to allow NoP planning

std_msgs/Header header

string name
string uuid

# The ordered list of waypoints to visit during this mission

clearpath_navigation_msgs/Waypoint[] waypoints

# An array of Tasks to execute on Mission start

clearpath_navigation_msgs/Task[] on_start

# An array of Tasks to execute on Mission stop

# These Tasks will execute regardless of mission success or failure

clearpath_navigation_msgs/Task[] on_stop

# Boolean value indicating whether robot should attempt 'return to dock' behavior

# when battery level drops below return_to_dock_battery_level

bool return_to_dock_enabled

# Dock UUID that the robot should return to for 'return to dock' behavior

string return_to_dock_id

# Value from 0 to 1 indicating what charge level the robot will return to dock at

float32 return_to_dock_battery_level

# Value from 0 to 1 indicating what charge level the robot should resume this mission at

# after returning to dock for recharging

float32 resume_mission_battery_level

# Boolean value indicating whether 'network' level replanning should be performed

# in the event that a network edge is deemed un-traversable (e.g., due to obstacles)

bool network_replan_enabled

# Configuration parameters for the mission

# Additional details TBD

string onav_config

std_msgs/msg/Header header
string name
string uuid
clearpath_navigation_msgs/msg/Waypoint[] waypoints
clearpath_navigation_msgs/msg/Task[] on_start
clearpath_navigation_msgs/msg/Task[] on_stop
boolean return_to_dock_enabled
string return_to_dock_id
float return_to_dock_battery_level
float resume_mission_battery_level
boolean network_replan_enabled
string onav_config