SetInitialPose Class

Looks up the robot's current pose via TF and publishes it to the localizer's initial-pose topic (default /initialpose) to re-seed the particle filter. More...

Declaration

class moveit_pro::behaviors::SetInitialPose { ... }

Included Headers

#include <set_initial_pose.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Attributes Index

std::shared_ptr< rclcpp::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped > >	publisher_

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Looks up the robot's current pose via TF and publishes it to the localizer's initial-pose topic (default /initialpose) to re-seed the particle filter.

Re-seeds a particle-filter localizer (e.g. beluga_amcl) at the robot's current estimated pose with a tight covariance, collapsing an over-dispersed particle cloud back onto that estimate. It does not correct a wrong position: the looked-up pose is itself derived from the current map->odom estimate. Add it at the start of any navigation Objective so each run begins from a confident localization estimate without requiring user intervention.

Data Port Name	Port Type	Object Type
robot_frame_id	Input	std::string
global_frame_id	Input	std::string
xy_variance	Input	double
yaw_variance	Input	double
initial_pose_topic	Input	std::string

Definition at line 53 of file set_initial_pose.hpp.

Public Constructors

SetInitialPose()

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

Declaration at line 56 of file set_initial_pose.hpp, definition at line 69 of file set_initial_pose.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::SetInitialPose::tick ()

Declaration at line 63 of file set_initial_pose.hpp, definition at line 98 of file set_initial_pose.cpp.

Private Member Attributes

publisher_

std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped> > moveit_pro::behaviors::SetInitialPose::publisher_

Definition at line 66 of file set_initial_pose.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::SetInitialPose::metadata ()

static

Declaration at line 61 of file set_initial_pose.hpp, definition at line 93 of file set_initial_pose.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::SetInitialPose::providedPorts ()

static

Declaration at line 59 of file set_initial_pose.hpp, definition at line 77 of file set_initial_pose.cpp.

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The documentation for this class was generated from the following files:

• set_initial_pose.hpp
• set_initial_pose.cpp

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