Class SpeedController

• Defined in File speed_controller.hpp

Inheritance Relationships

Base Type

• public BT::DecoratorNode

Class Documentation

class SpeedController : public BT::DecoratorNode

A BT::DecoratorNode that ticks its child every at a rate proportional to the speed of the robot. If the robot travels faster, this node will tick its child at a higher frequency and reduce the tick frequency if the robot slows down.

Public Functions

SpeedController(const std::string &name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::SpeedController.

Parameters:

• name – Name for the XML tag for this node

• conf – BT node configuration

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing node-specific ports