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...

#include <set_initial_pose.hpp>

Inheritance diagram for moveit_pro::behaviors::SetInitialPose:

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Collaboration diagram for moveit_pro::behaviors::SetInitialPose:

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

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed 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

Constructor & Destructor Documentation

◆ SetInitialPose()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions