A BT::DecoratorNode that subscribes to a goal topic and updates the current goal on the blackboard. More...
#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp>
Inheritance diagram for nav2_behavior_tree::GoalUpdater:
Collaboration diagram for nav2_behavior_tree::GoalUpdater:
Public Member Functions | |
| GoalUpdater (const std::string &xml_tag_name, const BT::NodeConfiguration &conf) | |
| A constructor for nav2_behavior_tree::GoalUpdater. More... | |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
| Creates list of BT ports. More... | |
Detailed Description
A BT::DecoratorNode that subscribes to a goal topic and updates the current goal on the blackboard.
- Note
- This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.
Definition at line 41 of file goal_updater_node.hpp.
Constructor & Destructor Documentation
◆ GoalUpdater()
| nav2_behavior_tree::GoalUpdater::GoalUpdater | ( | const std::string & | xml_tag_name, |
| const BT::NodeConfiguration & | conf | ||
| ) |
A constructor for nav2_behavior_tree::GoalUpdater.
- Parameters
-
xml_tag_name Name for the XML tag for this node conf BT node configuration
Definition at line 31 of file goal_updater_node.cpp.
Member Function Documentation
◆ providedPorts()
|
inlinestatic |
Creates list of BT ports.
- Returns
- BT::PortsList Containing node-specific ports
Definition at line 57 of file goal_updater_node.hpp.
The documentation for this class was generated from the following files:
- nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
- nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
