| input_path: |
| Type |
Default |
| nav_msgs/Path |
N/A |
- Description
The original path to be truncated.
|
|---|
| distance_forward: |
|---|
| |
- Description
The trimming distance in forward direction.
|
| distance_backward: |
|---|
| |
- Description
The trimming distance in backward direction.
|
| robot_frame: |
| Type |
Default |
| string |
“base_link” |
- Description
Robot base frame id.
|
|---|
| transform_tolerance: |
|---|
| |
- 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: |
|---|
| |
- 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.
|