GloballyUpdatedGoal

Checks if the global navigation goal has changed in the blackboard. Returns failure if the goal is the same, if it changes, it returns success.

This node differs from the GoalUpdated by retaining the state of the current goal/goals throughout each tick of the BehaviorTree such that it will update on any “global” change to the goal.

Input Ports

goal

Type	Default
geometry_msgs::msg::PoseStamped	“{goal}”

Description

Destination to check. Takes in a blackboard variable, “{goal}” if not specified.

goals

Type	Default
std::vector<geometry_msgs::msg::PoseStamped>	“{goals}”

Description

Vector of goals to check. Takes in a blackboard variable, “{goals}” if not specified.

Example

<GlobalUpdatedGoal/>