IsStopped

BT node that tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise

Input Port

velocity_threshold

Type	Default
double	0.01

Description

Velocity threshold below which robot is considered stopped

duration_stopped

Type	Default
int (ms)	1000

Description

Duration (ms) the velocity must remain below the threshold

Example

<IsStopped velocity_threshold="0.01" duration_stopped="1000"/>