Class IsBatteryLowCondition

• Defined in File is_battery_low_condition.hpp

Inheritance Relationships

Base Type

• public BT::ConditionNode

Class Documentation

class IsBatteryLowCondition : public BT::ConditionNode

A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is low and FAILURE otherwise.

Public Functions

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

A constructor for nav2_behavior_tree::IsBatteryLowCondition.

Parameters:

• condition_name – Name for the XML tag for this node

• conf – BT node configuration

IsBatteryLowCondition() = delete

BT::NodeStatus tick() override

The main override required by a BT action.

Returns:

BT::NodeStatus Status of tick execution

void initialize()

Function to read parameters and initialize class variables.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing node-specific ports