set_initial_pose.hpp File Reference

#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <moveit_pro_behavior_interface/behavior_context.hpp>
#include <moveit_pro_behavior_interface/shared_resources_node.hpp>
#include <rclcpp/publisher.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <memory>
#include <string>

Include dependency graph for set_initial_pose.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	moveit_pro::behaviors::SetInitialPose
	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...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
geometry_msgs::msg::PoseWithCovarianceStamped	moveit_pro::behaviors::makeInitialPose (const geometry_msgs::msg::TransformStamped &transform, double xy_variance, double yaw_variance)
	Builds an AMCL initial-pose message from a TF transform.