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"/>