IsGoalNearby

Checks if the robot is near the goal by computing the remaining path length from the robot’s current position to the goal. Returns SUCCESS when the remaining path length is less than the proximity threshold, otherwise returns FAILURE.

Parameter

transform_tolerance: Defined and declared in Behavior-Tree Navigator.

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1

Input Ports

path

Type	Default
nav_msgs::msg::Path	N/A

Description: The planned path to evaluate.

proximity_threshold

Type	Default
double	1.0

Description: The remaining path length (in meters) considered as “nearby”. When the remaining distance along the path is less than this threshold, the condition returns SUCCESS.

max_robot_pose_search_dist

Type	Default
double	-1.0

Description: Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to a negative value (default), the entire path is searched every time. Setting this to a positive value (e.g., 1.0-2.0 meters) can improve performance when this BT node is ticked frequently to address looping or crossed paths (when present).

global_frame

Type	Default
string	“map”

Description: The global reference frame.

robot_base_frame

Type	Default
string	“base_link”

Description: Robot base frame.

Example

<IsGoalNearby path="{path}" proximity_threshold="1.0" />