Publish a pose
Description
Publish a ROS message of the type geometry_msgs/PoseWithCovarianceStamped to a topic. This node GGG is used to send an initial position estimate to the amcl node. The position and orientation can be customized using the parameters.
Examples
The following Demos/Flows make use of this node:
Input List
There are 2 parameters.
| Port Name | Message type | Callback |
|---|---|---|
| start | Transition [movai_msgs-MovAI/TransitionTo][movai_msgs-MovAI/TransitionTo] | - |
| timer | Timer [movai_msgs-ROS1/Timer][movai_msgs-ROS1/Timer] | initial_pose_publisher_timer.cb |
Output List
There are 2 parameters.
| Port Name | Message type |
|---|---|
| end | Transition [movai_msgs-MovAI/TransitionFor][movai_msgs-MovAI/TransitionFor] |
| initialpose | PoseWithCovarianceStamped [geometry_msgs-ROS1/Publisher][geometry_msgs-ROS1/Publisher] |
Parameter List
There are 3 parameters.
| Parameter | Description |
|---|---|
| frame_id | Frame id in the geometry_msgs/PoseWithCovarianceStamped message. |
| orientation | Quaternion oritentation component in the geometry_msgs/PoseWithCovarianceStamped message represented as [x, y, z, w]. |
| position | Position component in the geometry_msgs/PoseWithCovarianceStamped message represented as [x, y, z]. |