IsGoalNearby

Checks if the robot is near the goal by computing the remaining path length from the robot's current position to the goal. Returns SUCCESS when the remaining path length is less than the proximity threshold, otherwise returns FAILURE.

Parameter

`transform_tolerance`

Defined and declared in Behavior-Tree Navigator.

Example

bt_navigator:
  ros__parameters:
    # other bt_navigator parameters
    transform_tolerance: 0.1

Input Ports

`path`

Type: nav_msgs::msg::Path Default: N/A: The planned path to evaluate.

`proximity_threshold`

Type: double Default: 1.0: The remaining path length (in meters) considered as "nearby". When the remaining distance along the path is less than this threshold, the condition returns SUCCESS.

`max_robot_pose_search_dist`

Type: double Default: -1.0: 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 a negative value (default), the entire path is searched every time. Setting this to a positive value (e.g., 1.0-2.0 meters) can improve performance when this BT node is ticked frequently to address looping or crossed paths (when present).

`global_frame`

Type: string Default: N/A: The global 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

<IsGoalNearby path="{path}" proximity_threshold="1.0" />