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Conditional Nodes

Basic Conditionals

  • BoolVar 
    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

LaserScan Conditionals

  • ClearAhead