nav2_behavior_tree::IsStuckCondition Class Reference

A BT::ConditionNode that tracks robot odometry and returns SUCCESS if robot is stuck somewhere and FAILURE otherwise. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp>

Inheritance diagram for nav2_behavior_tree::IsStuckCondition:

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Public Member Functions
	IsStuckCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::IsStuckCondition. More...
	~IsStuckCondition () override
	A destructor for nav2_behavior_tree::IsStuckCondition.
void	onOdomReceived (const typename nav_msgs::msg::Odometry::SharedPtr msg)
	Callback function for odom topic. More...
BT::NodeStatus	tick () override
	The main override required by a BT action. More...
void	logStuck (const std::string &msg) const
	Function to log status when robot is stuck/free.
void	updateStates ()
	Function to approximate acceleration from the odom history.
bool	isStuck ()
	Detect if robot bumped into something by checking for abnormal deceleration. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Detailed Description

A BT::ConditionNode that tracks robot odometry and returns SUCCESS if robot is stuck somewhere and FAILURE otherwise.

Definition at line 33 of file is_stuck_condition.hpp.

Constructor & Destructor Documentation

IsStuckCondition()

nav2_behavior_tree::IsStuckCondition::IsStuckCondition	(	const std::string &	condition_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::IsStuckCondition.

Parameters

condition_name	Name for the XML tag for this node
conf	BT node configuration

Definition at line 25 of file is_stuck_condition.cpp.

References onOdomReceived().

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Member Function Documentation

isStuck()

bool nav2_behavior_tree::IsStuckCondition::isStuck

(

)

Detect if robot bumped into something by checking for abnormal deceleration.

Returns

bool true if robot is stuck, false otherwise

Definition at line 124 of file is_stuck_condition.cpp.

Referenced by updateStates().

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onOdomReceived()

void nav2_behavior_tree::IsStuckCondition::onOdomReceived

(

const typename nav_msgs::msg::Odometry::SharedPtr

msg

)

Callback function for odom topic.

Parameters

msg	Shared pointer to nav_msgs::msg::Odometry::SharedPtr message

Definition at line 61 of file is_stuck_condition.cpp.

References updateStates().

Referenced by IsStuckCondition().

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providedPorts()

static BT::PortsList nav2_behavior_tree::IsStuckCondition::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 84 of file is_stuck_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::IsStuckCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 75 of file is_stuck_condition.cpp.

References logStuck().

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The documentation for this class was generated from the following files:

• nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp
• nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp