RemovePassedGoals¶

Looks over the input port goals and removes any point that the robot is in close proximity to or has recently passed. This is used to cull goal points that have been passed from ComputePathToPoses to enable replanning to only the current task goals.

Input Ports¶

radius:

Type	Default
double	0.5

Description: The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed.

global_frame:

Type	Default
string	“map”

Description: Reference frame.

robot_base_frame:

Type	Default
string	“base_link”

Description: Robot base frame.

input_goals:

Type	Default
geometry_msgs::msg::PoseStamped	N/A

Description: A vector of goals to check if it passed any in the current iteration.

Output Ports¶

output_goals:

Type	Default
geometry_msgs::msg::PoseStamped	N/A

Description: A vector of goals with goals removed in proximity to the robot

Example¶

<RemovePassedGoals radius="0.6" input_goals="{goals}" output_goals="{goals}"/>