Returns "success" if boolean variable in blackboard is true, otherwise returns "failure".
Params:
var_name (string): name of boolean variable in blackboard
BoolVarNot
Odometry Conditionals
ReachedPosition
LaserScan Conditionals
ClearAhead
Returns "failure" if boolean variable in blackboard is true, otherwise returns "success".
Params:
var_name (string): name of boolean variable in blackboard
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
included_nodes.md
##Documentation for included nodes
Action Nodes
Basic Movement
The 3 nodes classified as "basic movement" nodes are the fundamental building blocks needed in order to make a robotics behavior tree application.
Conditional Nodes
Basic Conditionals
Odometry Conditionals
Laserscan Conditionals
Update Nodes
Basic Updates
Movement Control Updates
Odometry Updates
Laserscan Updates
action_nodes.md
Basic Movement
LinearAngularStatic
Publishes a Twist message on the topic /cmd_vel with a linear and angular velocity defined in the node JSON
Params:
lin_vel (float): Linear x velocity for Twist msg
ang_vel (float): Angular z velocity for Twist msg
LinearAngularDynamic
Stop
Publishes a twist message on the topic /cmd_vel with a linear and angular velocity provided by variables in the blackboard
Params:
linear_var_name (string): Name of the blackboard variable holding the linear x velocity to add to Twist msg
angular_var_name (string): Name of the blackboard variable holding the angular z velocity to add to Twist msg
Publishes a Twist msg on /cmd_vel with all velocity values set to 0