Class IsStoppedCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class IsStoppedCondition : public BT::ConditionNode

A BT::ConditionNode that tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise.

Public Functions

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

A constructor for nav2_behavior_tree::IsStoppedCondition.

Parameters:
  • condition_name – Name for the XML tag for this node

  • conf – BT node configuration

IsStoppedCondition() = delete
~IsStoppedCondition() override

A destructor for nav2_behavior_tree::IsStoppedCondition.

BT::NodeStatus tick() override

The main override required by a BT action.

Returns:

BT::NodeStatus Status of tick execution

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing node-specific ports