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