ArePosesNear
Checks if two poses are nearby. If the input poses are in different frames, it will automatically transform both to the global frame.
Input Ports
- ref_pose
Type
Default
geometry_msgs::msg::PoseStamped
N/A
- Description
Takes in a blackboard variable containing the initial pose to check.
- target_pose
Type
Default
geometry_msgs::msg::PoseStamped
N/A
- Description
Takes in a blackboard variable containing the other pose to check against.
- global_frame
Type
Default
string
N/A
- Description
Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator’s
global_framesetting automatically.
- tolerance
Type
Default
double
0.50
- Description
Tolerance to check poses if nearby with respect to.
Example
<ArePosesNear ref_pose="{init_pose}" target_pose="{goal_pose}" tolerance="0.10"/>