GoalReached

Checks the distance to the goal, if the distance to goal is less than the pre-defined threshold, the tree returns SUCCESS, otherwise it returns FAILURE.

Parameter

transform_tolerance

Defined and declared in Behavior-Tree Navigator.

goal_reached_tol

Type: double Default: 0.25

Tolerance of accepting pose as the goal (m).

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1
    goal_reached_tol: 0.25

Input Ports

goal

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

Destination to check. Takes in a blackboard variable, e.g. "{goal}". The global reference frame is taken from the goal's header frame_id field.

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

<GoalReached goal="{goal}" robot_base_frame="base_link"/>