Class GloballyUpdatedGoalCondition

• Defined in File globally_updated_goal_condition.hpp

Inheritance Relationships

Base Type

• public BT::ConditionNode

Class Documentation

class GloballyUpdatedGoalCondition : public BT::ConditionNode

A BT::ConditionNode that returns SUCCESS when goal is updated on the blackboard and FAILURE otherwise.

Public Functions

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

A constructor for nav2_behavior_tree::GloballyUpdatedGoalCondition.

Parameters:

• condition_name – Name for the XML tag for this node

• conf – BT node configuration

GloballyUpdatedGoalCondition() = 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