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_sources/configuration/packages/bt-plugins/conditions/IsStopped.rst.txt

@@ -0,0 +1,39 @@
+.. _bt_is_stopped_condition:
+
+IsStopped
+=========
+
+BT node that tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough,
+RUNNING if stopped but not for long enough and FAILURE otherwise
+
+Input Port
+----------
+
+:velocity_threshold:
+
+  ======= =======
+  Type    Default
+  ------- -------
+  double    N/A
+  ======= =======
+
+  Description
+    	Velocity threshold below which robot is considered stopped
+
+:duration_stopped:
+
+  ========  =======
+  Type      Default
+  --------  -------
+  int (ms)  1000         
+  ========  =======
+
+  Description
+    	Duration (ms) the velocity must remain below the threshold 
+
+Example
+-------
+
+.. code-block:: xml
+
+    <IsStopped velocity_threshold="0.01" duration_stopped="1000"/>

_sources/configuration/packages/configuring-bt-navigator.rst.txt

@@ -268,6 +268,7 @@ Example
           - nav2_wait_action_bt_node
           - nav2_clear_costmap_service_bt_node
           - nav2_is_stuck_condition_bt_node
+          - nav2_is_stopped_condition_bt_node
           - nav2_goal_reached_condition_bt_node
           - nav2_initial_pose_received_condition_bt_node
           - nav2_goal_updated_condition_bt_node

_sources/migration/Jazzy.rst.txt

@@ -44,6 +44,7 @@ Below is a list of new BT Nodes added:
 
 - ``GetPoseFromPath``: An action to get a particular pose from an input path.
 - ``RemoveInCollisionGoals``: An action to remove waypoints that have a cost higher than a threshold.
+- ``IsStopped``: A condition to check if the robot is stopped for a certain duration.
 
 New RViz Tool for Costmap Cost Cell Inspection
 **********************************************

_sources/plugins/index.rst.txt

@@ -482,6 +482,9 @@ Behavior Tree Nodes
 |                                    |                    | making progress or     |
 |                                    |                    | stuck                  |
 +------------------------------------+--------------------+------------------------+
+| `Is Stopped Condition`_            |  Tony Najjar       | Checks if robot is     |
+|                                    |                    | stopped for a duration |
++------------------------------------+--------------------+------------------------+
 | `Transform Available Condition`_   |  Steve Macenski    | Checks if a TF         |
 |                                    |                    | transformation is      |
 |                                    |                    | available. When        |
@@ -540,6 +543,7 @@ Behavior Tree Nodes
 .. _Globally Updated Goal Condition: https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
 .. _Initial Pose received Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
 .. _Is Stuck Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp
+.. _Is Stopped Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp
 .. _Transform Available Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
 .. _Distance Traveled Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
 .. _Time Expired Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp

configuration/packages/configuring-bt-navigator.html

@@ -1539,6 +1539,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_wait_action_bt_node</span>
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_clear_costmap_service_bt_node</span>
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_is_stuck_condition_bt_node</span>
+<span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_is_stopped_condition_bt_node</span>
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_goal_reached_condition_bt_node</span>
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_initial_pose_received_condition_bt_node</span>
 <span class="w">      </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_goal_updated_condition_bt_node</span>

migration/Jazzy.html

@@ -1139,6 +1139,7 @@ <h2>New BT Nodes<a class="headerlink" href="#new-bt-nodes" title="Permalink to t
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">GetPoseFromPath</span></code>: An action to get a particular pose from an input path.</p></li>
 <li><p><code class="docutils literal notranslate"><span class="pre">RemoveInCollisionGoals</span></code>: An action to remove waypoints that have a cost higher than a threshold.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">IsStopped</span></code>: A condition to check if the robot is stopped for a certain duration.</p></li>
 </ul>
 </div>
 <div class="section" id="new-rviz-tool-for-costmap-cost-cell-inspection">

plugins/index.html

@@ -1820,7 +1820,12 @@ <h2>Behavior Tree Nodes<a class="headerlink" href="#behavior-tree-nodes" title="
 making progress or
 stuck</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp">Transform Available Condition</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp">Is Stopped Condition</a></p></td>
+<td><p>Tony Najjar</p></td>
+<td><p>Checks if robot is
+stopped for a duration</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp">Transform Available Condition</a></p></td>
 <td><p>Steve Macenski</p></td>
 <td><p>Checks if a TF
 transformation is
@@ -1829,67 +1834,67 @@ <h2>Behavior Tree Nodes<a class="headerlink" href="#behavior-tree-nodes" title="
 success for subsequent
 calls.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp">Distance Traveled Condition</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp">Distance Traveled Condition</a></p></td>
 <td><p>Sarthak Mittal</p></td>
 <td><p>Checks is robot has
 traveled a given
 distance.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp">Time Expired Condition</a></p></td>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp">Time Expired Condition</a></p></td>
 <td><p>Sarthak Mittal</p></td>
 <td><p>Checks if a given
 time period has
 passed.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp">Is Battery Low Condition</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp">Is Battery Low Condition</a></p></td>
 <td><p>Sarthak Mittal</p></td>
 <td><p>Checks if battery
 percentage is below
 a specified value.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp">Is Path Valid Condition</a></p></td>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp">Is Path Valid Condition</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if a path is
 valid by making sure
 there are no LETHAL
 obstacles along the
 path.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp">Path Expiring Timer</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp">Path Expiring Timer</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if the timer has
 expired. The timer is
 reset if the path gets
 updated.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp">Are Error Codes Present</a></p></td>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp">Are Error Codes Present</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if the specified
 error codes are
 present.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help.cpp">Would A Controller Recovery Help</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help.cpp">Would A Controller Recovery Help</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if a controller
 recovery could help
 clear the controller
 server error code.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help.cpp">Would A Planner Recovery Help</a></p></td>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help.cpp">Would A Planner Recovery Help</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if a planner
 recovery could help
 clear the planner
 server error code.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help.cpp">Would A Smoother Recovery Help</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help.cpp">Would A Smoother Recovery Help</a></p></td>
 <td><p>Joshua Wallace</p></td>
 <td><p>Checks if a Smoother
 recovery could help
 clear the smoother
 server error code.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp">Is Battery Charging Condition</a></p></td>
+<tr class="row-even"><td><p><a class="reference external" href="https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp">Is Battery Charging Condition</a></p></td>
 <td><p>Alberto Tudela</p></td>
 <td><p>Checks if the battery
 is charging.</p></td>