// Feature: task requires precondition
//
//   spanda check examples/features/task_requires.sd
//   spanda run examples/features/task_requires.sd

robot RequiresRover {
  sensor lidar: Lidar on "/scan";
  actuator wheels: DifferentialDrive;

  safety {
    max_speed = 1.0 m/s;
  }

  task control every 20ms requires lidar.nearest_distance > 0.3 m {
    wheels.drive(linear: 0.2 m/s, angular: 0.0 rad/s);
  }
}
