PathLongerOnApproach

This node checks if the newly generated global path is significantly larger than the old global path in the user-defined robot's goal proximity and triggers their corresponding children. This allows users to enact special behaviors before a robot attempts to execute a path significantly longer than the prior path when close to a goal (e.g. going around an dynamic obstacle that may just need a few seconds to move out of the way).

Input Ports

path

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

Path created by action server. Takes in a blackboard variable, e.g. "{path}".

prox_len

Type: double Default: 3.0

Proximity length (m) for the path to be longer on approach.

length_factor

Type: double Default: 2.0

Length multiplication factor to check if the path is significantly longer.

Example

<PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
    <!--Add tree components here-->
</PathLongerOnApproach>