GetCurrentPose
Obtains the current pose from TF and places it on the blackboard for other nodes to use.
Input Ports
- robot_base_frame
Type
Default
string
N/A
- Description
Robot base frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator’s
base_framesetting automatically.
- global_frame
Type
Default
string
N/A
- Description
Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator’s
global_framesetting automatically.
Output Ports
- current_pose
- Description
The current pose in the global frame.
Example
<GetCurrentPose current_pose="{current_pose}"/>