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