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"/>