A BT::DecoratorNode that ticks its child every at a rate proportional to the speed of the robot. If the robot travels faster, this node will tick its child at a higher frequency and reduce the tick frequency if the robot slows down. More...
#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp>
Public Member Functions | |
| SpeedController (const std::string &name, const BT::NodeConfiguration &conf) | |
| A constructor for nav2_behavior_tree::SpeedController. More... | |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
| Creates list of BT ports. More... | |
Detailed Description
A BT::DecoratorNode that ticks its child every at a rate proportional to the speed of the robot. If the robot travels faster, this node will tick its child at a higher frequency and reduce the tick frequency if the robot slows down.
- 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 42 of file speed_controller.hpp.
Constructor & Destructor Documentation
◆ SpeedController()
| nav2_behavior_tree::SpeedController::SpeedController | ( | const std::string & | name, |
| const BT::NodeConfiguration & | conf | ||
| ) |
A constructor for nav2_behavior_tree::SpeedController.
- Parameters
-
name Name for the XML tag for this node conf BT node configuration
Definition at line 26 of file speed_controller.cpp.
Member Function Documentation
◆ providedPorts()
|
inlinestatic |
Creates list of BT ports.
- Returns
- BT::PortsList Containing node-specific ports
Definition at line 58 of file speed_controller.hpp.
The documentation for this class was generated from the following files:
- nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
- nav2_behavior_tree/plugins/decorator/speed_controller.cpp
