GetPoseFromPath

Gets a pose from a particular index on the path. Use -1 to get the last pose, -2 for second to last, and so on.

Input Ports

path

Type: nav_msgs::msg::Path Default: N/A

Path to extract pose from.

index

Type: int Default: 0

Index from path to use. Use -1 to get the last pose, -2 for second to last, and so on.

Output Ports

pose

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

Pose from path, with the Path's set header.

Example

<GetPoseFromPath path="{path}" index="-1" pose="{goal}"/>