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:  

Defined and declared in Behavior-Tree Navigator.

goal_reached_tol:  

Type	Default
double	0.25

Description

Tolerance of accepting pose as the goal (m).

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1
    goal_reached_tol: 0.25

Input Ports

goal:

Type	Default
string	N/A

Description

Destination to check. Takes in a blackboard variable, e.g. “{goal}”.

global_frame:

Type	Default
string	“map”

Description

Reference frame.

robot_base_frame:  

Type	Default
string	“base_link”

Description

Robot base frame.

Example

<GoalReached goal="{goal}" global_frame="map" robot_base_frame="base_link"/>