RemovePassedGoals

Looks over the input port goals and removes any point that the robot is in close proximity to or has recently passed. This is used to cull goal points that have been passed from ComputePathThroughPoses to enable replanning to only the current task goals.

Input Ports

radius

Type: double Default: 0.5

The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed.

robot_base_frame

Type: string Default: N/A

Robot base frame. If not provided, uses the BT Navigator's robot_base_frame parameter value (base_link by default).

input_goals

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

A vector of goals to check if it passed any in the current iteration.

input_waypoint_statuses

Type: vector<nav2_msgs::msg::WaypointStatus> Default: N/A

Original waypoint_statuses to mark waypoint status from.

Output Ports

output_goals

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

A vector of goals with goals removed in proximity to the robot.

output_waypoint_statuses

Type: vector<nav2_msgs::msg::WaypointStatus> Default: N/A

Waypoint_statuses with passed waypoints marked.

Example

<RemovePassedGoals radius="0.6" input_goals="{goals}" output_goals="{goals}"
                   input_waypoint_statuses="{waypoint_statuses}"
                   output_waypoint_statuses="{waypoint_statuses}"/>