conditional_nodes.md

Basic Conditionals

• BoolVar

  Returns "success" if boolean variable in blackboard is true, otherwise returns "failure".
  
  Params:
      var_name (string): name of boolean variable in blackboard

• BoolVarNot

  Returns "failure" if boolean variable in blackboard is true, otherwise returns "success".
  
  Params:
      var_name (string): name of boolean variable in blackboard

Odometry Conditionals

• ReachedPosition

  Returns "success" if the position of the robot given by the /odom topic is close within error to the provided goal position variable
  
  Params:
      goal_pos_var_name (string): Name of the blackboard variable holding an array of the x,y goal coordinates.
      error (float): Tolerated error for reaching the goal position

LaserScan Conditionals

• ClearAhead