RemovePassedGoals
Looks over the input port goals and removes any point that the robot is in close proximity to or has recently passed.
This is used to cull goal points that have been passed from ComputePathThroughPoses to enable replanning to only the current task goals.
Input Ports
- radius
Type
Default
double
0.5
- Description
The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed.
- robot_base_frame
Type
Default
string
“base_link”
- Description
Robot base frame.
- input_goals
Type
Default
nav_msgs::msg::Goals
N/A
- Description
A vector of goals to check if it passed any in the current iteration.
- input_waypoint_statuses
Type
Default
std::vector<nav2_msgs::msg::WaypointStatus>
N/A
- Description
Original waypoint_statuses to mark waypoint status from.
Output Ports
- output_goals
Type
Default
nav_msgs::msg::Goals
N/A
- Description
A vector of goals with goals removed in proximity to the robot
- output_waypoint_statuses
Type
Default
std::vector<nav2_msgs::msg::WaypointStatus>
N/A
- Description
Waypoint_statuses with passed waypoints marked.
Example
<RemovePassedGoals radius="0.6" input_goals="{goals}" output_goals="{goals}" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>