DistanceController¶

A node that controls the tick rate for its child based on the distance traveled. The distance to be traveled before replanning can be supplied to the node as a parameter. The node returns RUNNING when it is not ticking its child. Currently, in the navigation stack, the DistanceController is used to adjust the rate at which the ComputePathToPose and GoalReached nodes are ticked.

Input Ports¶

distance:

Type	Default
double	1.0

Description: The distance travelled to trigger an action such as planning a path (m).

global_frame:

Type	Default
string	“map”

Description: Reference frame.

robot_base_frame:

Type	Default
string	“base_link”

Description: Robot base frame.

Example¶

<DistanceController distance="0.5" global_frame="map" robot_base_frame="base_link">
  <!--Add tree components here--->
</DistanceController>