DistanceTraveled

Node that returns success when a configurable distance has been traveled.

Parameters

transform_tolerance

Defined and declared in Behavior-Tree Navigator.

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1

Input Ports

distance

Type	Default
double	1.0

Description

The distance that must travel before returning success (m).

global_frame

Type	Default
string	N/A

Description

Reference frame. If not provided, uses the BT Navigator’s global_frame setting automatically.

robot_base_frame

Type	Default
string	N/A

Description

Robot base frame. If not provided, uses the BT Navigator’s robot_base_frame setting automatically.

Example

<DistanceTraveled distance="0.8" global_frame="map" robot_base_frame="base_link"/>