TruncatePathLocal

A custom control node, which modifies a path making it shorter. It removes parts of the path which are more distant than specified forward/backward distance around robot

Input Ports

`input_path`

Type: nav_msgs::msg::Path Default: N/A: The original path to be truncated.

`distance_forward`

Type: double Default: 8.0: The trimming distance in forward direction. Set to -1 to search full path forward.

`distance_backward`

Type: double Default: 4.0: The trimming distance in backward direction.

`robot_base_frame`

Type: string Default: N/A: Robot base frame id. If not provided, uses the BT Navigator's robot_base_frame parameter value (base_link by default).

`transform_tolerance`

Type: double Default: 0.2: Robot pose lookup tolerance.

`pose`

Type: geometry_msgs::msg::PoseStamped Default: N/A: Manually specified pose to be used alternatively to current robot pose.

`angular_distance_weight`

Type: double Default: 0.0: Weight of angular distance relative to positional distance when finding which path pose is closest to robot. Not applicable on paths without orientations assigned.

`max_robot_pose_search_dist`

Type: double Default: numeric_limits<double>::infinity(): Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to infinity (default), whole path is searched every time.

Output Ports

`output_path`

Type: nav_msgs::msg::Path Default: N/A: The resulting truncated path.

Example

<TruncatePathLocal input_path="{path}" output_path="{path_local}"
                   distance_forward="3.5" distance_backward="2.0"/>