Class RemoveInCollisionGoals

Inheritance Relationships

Base Type

Class Documentation

class RemoveInCollisionGoals : public nav2_behavior_tree::BtServiceNode<nav2_msgs::srv::GetCosts>

A nav2_behavior_tree::BtServiceNode class that removes goals that are in collision in on the global costmap wraps nav2_msgs::srv::GetCosts.

Note

This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.

Public Functions

RemoveInCollisionGoals(const std::string &service_node_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::RemoveInCollisionGoals.

Parameters:
  • service_node_name – Service name this node creates a client for

  • conf – BT node configuration

virtual void on_tick() override

The main override required by a BT service.

Returns:

BT::NodeStatus Status of tick execution

BT::NodeStatus on_completion(std::shared_ptr<nav2_msgs::srv::GetCosts::Response> response) override

Public Static Functions

static inline BT::PortsList providedPorts()