DistanceController

A node that controls the tick rate for its child based on the distance traveled. The distance to be traveled before replanning can be supplied to the node as a parameter. The node returns RUNNING when it is not ticking its child. Currently, in the navigation stack, the DistanceController is used to adjust the rate at which the ComputePathToPose and GoalReached nodes are ticked.

Input Ports

distance

Type: double Default: 1.0

The distance travelled to trigger an action such as planning a path (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

<DistanceController distance="0.5" global_frame="map" robot_base_frame="base_link">
    <!--Add tree components here-->
</DistanceController>