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.
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}"/>