GoalUpdatedController

Checks if the global navigation goal, or a vector of goals, has changed in the blackboard. The node ticks its child if the goal was updated.

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
geometry_msgs::msg::PoseStampedArray	“{goals}”

Description

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

Example

<GoalUpdatedController goal="{goal}" goals="{goals}">
  <!--Add tree components here--->
</GoalUpdatedController>