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}"/>