DistanceTraveled

Node that returns success when a configurable distance has been traveled.

Parameters

transform_tolerance:
 Defined and declared in Behavior-Tree Navigator.

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1

Input Ports

distance:
Type Default
double 1.0
Description

The distance that must travel before returning success (m).

global_frame:
Type Default
string “map”
Description

Reference frame.

robot_base_frame:
 
Type Default
string “base_link”
Description

Robot base frame.

Example

<DistanceTraveled distance="0.8" global_frame="map" robot_base_frame="base_link"/>