Class RateController

• Defined in File rate_controller.hpp

Inheritance Relationships

Base Type

• public BT::DecoratorNode

Class Documentation

class RateController : public BT::DecoratorNode

A BT::DecoratorNode that ticks its child at a specified rate.

Public Functions

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

A constructor for nav2_behavior_tree::RateController.

Parameters:

• name – Name for the XML tag for this node

• conf – BT node configuration

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