Class DistanceTraveledCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class DistanceTraveledCondition : public BT::ConditionNode

A BT::ConditionNode that returns SUCCESS every time the robot travels a specified distance and FAILURE otherwise.

Public Functions

DistanceTraveledCondition(const std::string &condition_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::DistanceTraveledCondition.

Parameters:

  • condition_name – Name for the XML tag for this node

  • conf – BT node configuration

DistanceTraveledCondition() = delete
BT::NodeStatus tick() override

The main override required by a BT action.

Returns:

BT::NodeStatus Status of tick execution

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing node-specific ports