IsPoseOccupied
Checks to see if the pose is occupied. If it is occupied, the condition returns SUCCESS, otherwise it returns FAILURE.
Input Ports
- pose
Type
Default
geometry_msgs/PoseStamped
N/A
- Description
Pose to check if it is occupied.
- service_name
Type
Default
string
/global_costmap/get_cost_global_costmap
- Description
costmap service name responsible for getting the cost.
- cost_threshold
Type
Default
double
254.0
- Description
The cost threshold above which a waypoint is considered in collision and should be removed. If
use_footprint = false, consider setting to 253 for occupied.
- use_footprint
Type
Default
bool
true
- Description
Whether to use the footprint cost or the point cost.
- server_timeout
Type
Default
double
20.0
- Description
Service response timeout (ms).
- path
Type
Default
nav_msgs::msg::Path
N/A
- Description
The global path to check for validity.
- max_cost
Type
Default
unsigned int
253
- Description
The maximum allowable cost for the path to be considered valid.
- consider_unknown_as_obstacle
Type
Default
bool
false
- Description
Whether to consider unknown cost (255) as obstacle.
Example
<IsPoseOccupied server_timeout="10" pose="{goal}" max_cost="254"/>