GoalUpdater

A custom control node, which updates the goal pose. It subscribes to a topic in which it can receive an updated goal pose to use instead of the one commanded in action. It is useful for dynamic object following tasks.

Parameters

change_goal_topic:
 
Type Default
string “goal_update”
Description

The topic to receive the updated goal pose

Input Ports

input_goal:
Type Default
geometry_msgs/PoseStamped N/A
Description

The original goal pose

output_goal:
Type Default
geometry_msgs/PoseStamped N/A
Description

The resulting updated goal. If no goal received by subscription, it will be the input_goal

Example

<ChangeGoal input_goal="{goal}" output_goal="{updated_goal}">
  <!--Add tree components here--->
</ChangeGoal>