TruncatePath

A custom control node, which modifies a path making it shorter. It removes parts of the path closer than a distance to the goal pose. The resulting last pose of the path orientates the robot to the original goal pose.

Input Ports

input_path

Type	Default
nav_msgs/Path	N/A

Description: The original path to be truncated.

distance

Type	Default
double	1.0

Description: The distance to the original goal for truncating the path.

Output Ports

output_path

Type	Default
nav_msgs/Path	N/A

Description: The resulting truncated path.

Example

<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>