GetCurrentPose

Obtains the current pose from TF and places it on the blackboard for other nodes to use.

Input Ports

robot_base_frame

Type: string Default: N/A

Robot base frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's base_frame parameter value (base_link by default).

global_frame

Type: string Default: N/A

Global frame to transform poses to if not given in the same frame. If not provided, uses the BT Navigator's global_frame parameter value (map by default).

Output Ports

current_pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

The current pose in the global frame.

Example

<GetCurrentPose current_pose="{current_pose}"/>