`OverridePoseOrientation` Class

Replaces the orientation of a PoseStamped with a fixed quaternion. More...

Declaration

class moveit_pro::behaviors::OverridePoseOrientation { ... }

Included Headers

#include <override_pose_orientation.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	OverridePoseOrientation (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Replaces the orientation of a PoseStamped with a fixed quaternion.

This decouples grasp orientation from detection noise — the source pose's position is preserved while the orientation is overridden. Useful when a detected pose (e.g. from an AprilTag) has accurate position but noisy orientation. Use TransformPose if you also need to apply a positional offset.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
orientation_xyzw	input	geometry_msgs::msg::Quaternion
output_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 28 of file override_pose_orientation.hpp.

Public Constructors