Function nav2_rotation_shim_controller::utils::withinPositionGoalTolerance

Defined in File utils.hpp

Function Documentation

inline bool nav2_rotation_shim_controller::utils::withinPositionGoalTolerance(nav2_core::GoalChecker *goal_checker, const geometry_msgs::msg::Pose &robot, const geometry_msgs::msg::Pose &goal)

get the current pose of the robot

Parameters:

goal_checker – goal checker to get tolerances
robot – robot pose
goal – goal pose

Returns:

bool Whether the robot is in the distance tolerance ignoring rotation and speed