Add WaypointStatus message type

zz990099 · zz990099 · commit 99b4a9be2215 · 2025-03-19T17:08:33.000+08:00
Signed-off-by: zz990099 &lt;771647586@qq.com&gt;
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
@@ -32,6 +32,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Particle.msg"
   "msg/ParticleCloud.msg"
   "msg/MissedWaypoint.msg"
+  "msg/WaypointStatus.msg"
   "srv/GetCosts.srv"
   "srv/GetCostmap.srv"
   "srv/IsPathValid.srv"
diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action
@@ -22,3 +22,4 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
+WaypointStatus[] waypoint_statuses
diff --git a/nav2_msgs/msg/WaypointStatus.msg b/nav2_msgs/msg/WaypointStatus.msg
@@ -0,0 +1,5 @@
+# Waypoint state for robot in NavigateThroughPoses or WaypointFollower
+uint8 PENDING=0 # Waypoint is not processed
+uint8 COMPLETED=1 # Waypoint is completed
+uint8 SKIPPED=2 # Waypoint is skipped
+uint8 waypoint_status
