GoalUpdatedController

Checks if the global navigation goal, or a vector of goals, has changed in the blackboard. The node ticks its child if the goal was updated.

Input Ports

goal

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

Destination to check. Takes in a blackboard variable, "{goal}" if not specified.

goals

Type: nav_msgs::msg::Goals Default: N/A

Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

Example

<GoalUpdatedController goal="{goal}" goals="{goals}">
    <!--Add tree components here-->
</GoalUpdatedController>