/cartographer_initial_pose

Allows you to set Cartographer's inital pose using RViz's 2D Pose Estimate feature.

Primary LanguageC++MIT LicenseMIT

cartographer_inital_pose

Allows you to set Cartographer's inital pose using RViz's 2D Pose Estimate feature.

Usage

Start the initial_pose_listener node along with Cartographer:

<node name="cartographer_initial_pose" pkg="cartographer_initial_pose" type="initial_pose_listener" output="screen">
  <param name="configuration_directory" value="path/to/your/configuration_directory" />
  <param name="configuration_basename" value="your_configuration.lua" />
</node>

Node API

Parameters:

  • ~relative_to_trajectory_id (int32, default: 0)
  • ~configuration_directory (string)
  • ~configuration_basename (string)

Subscribed Topics:

  • initialpose (geometry_msgs/PoseWithCovarianceStamped)

Required Services:

  • get_trajectory_states (cartographer_ros_msgs/GetTrajectoryStates)
  • start_trajectory (cartographer_ros_msgs/StartTrajectory)
  • finish_trajectory (cartographer_ros_msgs/FinishTrajectory)