PathLongerOnApproach¶

This node checks if the newly generated global path is significantly larger than the old global path in the user-defined robot’s goal proximity and triggers their corresponding children. This allows users to enact special behaviors before a robot attempts to execute a path significantly longer than the prior path when close to a goal (e.g. going around an dynamic obstacle that may just need a few seconds to move out of the way).

Input Ports¶

path:

Type	Default
nav_msgs::msg::Path	N/A

Description: Path created by action server. Takes in a blackboard variable, e.g. “{path}”.

prox_len:

Type	Default
double	3.0

Description: Proximity length (m) for the path to be longer on approach.

length_factor:

Type	Default
double	2.0

Description: Length multiplication factor to check if the path is significantly longer.

Example¶

<PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
  <!--Add tree components here--->
</PathLongerOnApproach>