DistanceTraveled

Node that returns success when a configurable distance has been traveled.

Parameters

transform_tolerance

Defined and declared in Behavior-Tree Navigator.

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1

Input Ports

distance

Type: double Default: 1.0

The distance that must travel before returning success (m).

global_frame

Type: string Default: N/A

Reference frame. If not provided, uses the BT Navigator's global_frame parameter value (map by default).

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).

Example

<DistanceTraveled distance="0.8" global_frame="map" robot_base_frame="base_link"/>