CheckStopStatus

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 Ports

velocity_threshold

Type: double Default: 0.01

Velocity threshold below which robot is considered stopped.

duration_stopped

Type: chrono::milliseconds Default: 1000

Duration (ms) the velocity must remain below the threshold.

Example

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