Class GoalUpdater

• Defined in File goal_updater_node.hpp

Inheritance Relationships

Base Type

• public BT::DecoratorNode

Class Documentation

class GoalUpdater : public BT::DecoratorNode

A BT::DecoratorNode that subscribes to a goal topic and updates the current goal on the blackboard.

Public Functions

GoalUpdater(const std::string &xml_tag_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::GoalUpdater.

Parameters:

• xml_tag_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