+
+
+
+ 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
+<IsStopped velocity_threshold="0.01" duration_stopped="1000"/>
+