If a file e.g. package/config/Goal.yaml exists then the map manager will automatically set the goal of the action to the goal specified in that file, when the add edge function/service is called with arg action_type set to package/Goal. If that arg is not set or the file does not exist then a move base type goal is assumed.
If a file e.g.
package/config/Goal.yamlexists then the map manager will automatically set the goal of the action to the goal specified in that file, when the add edge function/service is called with argaction_typeset to package/Goal. If that arg is not set or the file does not exist then a move base type goal is assumed.