GoalReached¶
Checks the distance to the goal, if the distance to goal is less than the pre-defined threshold, the tree returns SUCCESS, otherwise it returns FAILURE.
Parameter¶
transform_tolerance: | |||||
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Defined and declared in Behavior-Tree Navigator. |
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goal_reached_tol: | |||||
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Example¶
bt_navigator:
ros__parameters:
# other bt_navigator parameters
transform_tolerance: 0.1
goal_reached_tol: 0.25
Input Ports¶
goal: |
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global_frame: |
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robot_base_frame: | |||||
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Example¶
<GoalReached goal="{goal}" global_frame="map" robot_base_frame="base_link"/>