TruncatePathLocal

A custom control node, which modifies a path making it shorter. It removes parts of the path which are more distant than specified forward/backward distance around robot

Input Ports

input_path:
Type Default
nav_msgs/Path N/A
Description

The original path to be truncated.

distance_forward:
 
Type Default
double 8.0
Description

The trimming distance in forward direction.

distance_backward:
 
Type Default
double 4.0
Description

The trimming distance in backward direction.

robot_frame:
Type Default
string “base_link”
Description

Robot base frame id.

transform_tolerance:
 
Type Default
double 0.2
Description

Robot pose lookup tolerance.

pose:
Type Default
geometry_msgs/PoseStamped N/A
Description

Manually specified pose to be used alternatively to current robot pose.

angular_distance_weight:
 
Type Default
double 0.0
Description

Weight of angular distance relative to positional distance when finding which path pose is closest to robot. Not applicable on paths without orientations assigned.

max_robot_pose_search_dist:
 
Type Default
double infinity
Description

Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to infinity (default), whole path is searched every time.

Ouput Ports

output_path:
Type Default
nav_msgs/Path N/A
Description

The resulting truncated path.

Example

<TruncatePathLocal input_path="{path}" output_path="{path_local}" distance_forward="3.5" distance_backward="2.0" robot_frame="base_link"/>