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"/>