Skip to content

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