string task_id
string subtask_id
geometry_msgs/PoseStamped target_pose
float64 position_tolerance
float64 yaw_tolerance
builtin_interfaces/Duration timeout
---
uint8 SUCCEEDED=0
uint8 CANCELED=1
uint8 TIMEOUT=2
uint8 BLOCKED=3
uint8 NOT_READY=4
uint8 FAILED=5
uint8 STOP_UNKNOWN=0
uint8 STOP_CONFIRMED=1
uint8 status
string error_code
string message
bool final_pose_valid
geometry_msgs/PoseStamped final_pose
float64 final_position_error
float64 final_yaw_error
uint8 stop_state
builtin_interfaces/Time stopped_at
string stop_evidence_ref
---
uint8 ACCEPTED=0
uint8 CHECKING=1
uint8 PLANNING=2
uint8 NAVIGATING=3
uint8 BLOCKED=4
uint8 STOPPING=5
builtin_interfaces/Time stamp
uint64 sequence
uint8 phase
bool current_pose_valid
geometry_msgs/PoseStamped current_pose
bool error_valid
float64 position_error
float64 yaw_error
bool blocked_valid
bool blocked
builtin_interfaces/Duration elapsed_time
string message