A BT::ConditionNode that returns SUCCESS when remaining length of the current planned path is less than proximity_threshold and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::IsGoalNearbyCondition:

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Collaboration diagram for nav2_behavior_tree::IsGoalNearbyCondition:

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Public Member Functions
	IsGoalNearbyCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::IsGoalNearbyCondition. More...

BT::NodeStatus	tick () override
	The main override required by a BT action. More...

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

Detailed Description

A BT::ConditionNode that returns SUCCESS when remaining length of the current planned path is less than proximity_threshold and FAILURE otherwise.

Use max_robot_pose_search_dist to limit search distance when path updates regularly to reduce computational cost. Disable (set negative) for full path search.

Usage in XML:

Definition at line 47 of file is_goal_nearby_condition.hpp.

Constructor & Destructor Documentation

◆ IsGoalNearbyCondition()

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

A constructor for nav2_behavior_tree::IsGoalNearbyCondition.

Parameters

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

Definition at line 24 of file is_goal_nearby_condition.cpp.

Member Function Documentation

◆ providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 69 of file is_goal_nearby_condition.hpp.

◆ tick()

BT::NodeStatus nav2_behavior_tree::IsGoalNearbyCondition::tick ( )

override

The main override required by a BT action.

Returns: BT::NodeStatus Status of tick execution

Definition at line 36 of file is_goal_nearby_condition.cpp.

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

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_goal_nearby_condition.hpp
nav2_behavior_tree/plugins/condition/is_goal_nearby_condition.cpp