TruncatePath¶
A custom control node, which modifies a path making it shorter. It removes parts of the path closer than a distance to the goal pose. The resulting last pose of the path orientates the robot to the original goal pose.
Input Ports¶
input_path: |
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distance: |
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Ouput Ports¶
output_path: |
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Example¶
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>