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].

More Info

community@mov.ai