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
Type
Default
nav_msgs/Path
N/A
- Description
The original path to be truncated.
- distance
Type
Default
double
1.0
- Description
The distance to the original goal for truncating the path.
Ouput Ports¶
- output_path
Type
Default
nav_msgs/Path
N/A
- Description
The resulting truncated path.
Example¶
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>