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

goal_updater_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

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