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It can be used to direct the activities multiple robots as well as other, non-robot tasks.\n+\n+## Overview\n+ \n+The Mission Executor task server receives a **MissionPlan** and returns whether the plan was successfully executed, failed, or was canceled.\n+\n+```C++\n+namespace nav2_tasks {\n+\n+using ExecuteMissionCommand = nav2_msgs::msg::MissionPlan;\n+using ExecuteMissionResult = std_msgs::msg::Empty;\n+\n+using ExecuteMissionTaskClient = TaskClient<ExecuteMissionCommand, ExecuteMissionResult>;\n+using ExecuteMissionTaskServer = TaskServer<ExecuteMissionCommand, ExecuteMissionResult>;\n+\n+} //  namespace nav2_tasks\n+```\n+\n+NOTE: An Empty message is used in the definition of the task client and server if there is no other data required.\n+\n+The [mission plan message](https://github.com/ros-planning/navigation2/blob/master/nav2_msgs/msg/MissionPlan.msg) consists of a header and a mission plan string:\n+\n+```\n+std_msgs/Header header\n+string mission_plan\n+```\n+\n+The mission plan itself is an XML string that defines the behavior tree. For example, the following XML string specifies a sequence of three NavigateToPose actions:","path":"nav2_mission_executor/README.md","position":30,"original_position":30,"commit_id":"8803df7ce9bf2c5cdd6487478ab43a5443b9cfbb","original_commit_id":"8803df7ce9bf2c5cdd6487478ab43a5443b9cfbb","user":{"login":"mkhansen-intel","id":12618239,"node_id":"MDQ6VXNlcjEyNjE4MjM5","avatar_url":"https://avatars1.githubusercontent.com/u/12618239?v=4","gravatar_id":"","url":"https://api.github.com/users/mkhansen-intel","html_url":"https://github.com/mkhansen-intel","followers_url":"https://api.github.com/users/mkhansen-intel/followers","following_url":"https://api.github.com/users/mkhansen-intel/following{/other_user}","gists_url":"https://api.github.com/users/mkhansen-intel/gists{/gist_id}","starred_url":"https://api.github.com/users/mkhansen-intel/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mkhansen-intel/subscriptions","organizations_url":"https://api.github.com/users/mkhansen-intel/orgs","repos_url":"https://api.github.com/users/mkhansen-intel/repos","events_url":"https://api.github.com/users/mkhansen-intel/events{/privacy}","received_events_url":"https://api.github.com/users/mkhansen-intel/received_events","type":"User","site_admin":false},"body":"This is the first mention of behavior tree, you might want to mention it above, either in the first paragraph or shortly after that so its clear what you're referring to here and why we're using behavior trees","created_at":"2018-10-17T22:16:31Z","updated_at":"2018-10-17T22:18:18Z","html_url":"https://github.com/ros-planning/navigation2/pull/183#discussion_r226112963","pull_request_url":"https://api.github.com/repos/ros-planning/navigation2/pulls/183","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/navigation2/pulls/comments/226112963"},"html":{"href":"https://github.com/ros-planning/navigation2/pull/183#discussion_r226112963"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/navigation2/pulls/183"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/navigation2/pulls/183","id":223769270,"node_id":"MDExOlB1bGxSZXF1ZXN0MjIzNzY5Mjcw","html_url":"https://github.com/ros-planning/navigation2/pull/183","diff_url":"https://github.com/ros-planning/navigation2/pull/183.diff","patch_url":"https://github.com/ros-planning/navigation2/pull/183.patch","issue_url":"https://api.github.com/repos/ros-planning/navigation2/issues/183","number":183,"state":"open","locked":false,"title":"Mission execution readme","user":{"login":"mjeronimo","id":865395,"node_id":"MDQ6VXNlcjg2NTM5NQ==","avatar_url":"https://avatars0.githubusercontent.com/u/865395?v=4","gravatar_id":"","url":"https://api.github.com/users/mjeronimo","html_url":"https://github.com/mjeronimo","followers_url":"https://api.github.com/users/mjeronimo/followers","following_url":"https://api.github.com/users/mjeronimo/following{/other_user}","gists_url":"https://api.github.com/users/mjeronimo/gists{/gist_id}","starred_url":"https://api.github.com/users/mjeronimo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mjeronimo/subscriptions","organizations_url":"https://api.github.com/users/mjeronimo/orgs","repos_url":"https://api.github.com/users/mjeronimo/repos","events_url":"https://api.github.com/users/mjeronimo/events{/privacy}","received_events_url":"https://api.github.com/users/mjeronimo/received_events","type":"User","site_admin":false},"body":"First cut at the mission executor readme. 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