ArePosesNear

Checks if two poses are nearby. If the input poses are in different frames, it will automatically transform both to the global frame.

Input Ports

ref_pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

Takes in a blackboard variable containing the initial pose to check.

target_pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

Takes in a blackboard variable containing the other pose to check against.

global_frame

Type: string Default: N/A

Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's global_frame parameter value (map by default).

tolerance

Type: double Default: 0.5

Tolerance to check poses if nearby with respect to.

Example

<ArePosesNear ref_pose="{init_pose}" target_pose="{goal_pose}" tolerance="0.10"/>