DistanceController

A node that controls the tick rate for its child based on the distance traveled. The distance to be traveled before replanning can be supplied to the node as a parameter. The node returns RUNNING when it is not ticking its child. Currently, in the navigation stack, the DistanceController is used to adjust the rate at which the ComputePathToPose and GoalReached nodes are ticked.

Input Ports

distance

Type	Default
double	1.0

Description

The distance travelled to trigger an action such as planning a path (m).

global_frame

Type	Default
string	“map”

Description

Reference frame.

robot_base_frame

Type	Default
string	“base_link”

Description

Robot base frame.

Example

<DistanceController distance="0.5" global_frame="map" robot_base_frame="base_link">
  <!--Add tree components here--->
</DistanceController>