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IsStopped

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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

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Input Port

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velocity_threshold
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Type

Default

double

N/A

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Description

Velocity threshold below which robot is considered stopped

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duration_stopped
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Type

Default

int (ms)

1000

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Description

Duration (ms) the velocity must remain below the threshold

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Example

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