GoalUpdater

A custom control node, which updates the goal(s) pose(s). It subscribes to a topic in which it can receive (an) updated goal(s) pose(s) to use instead of the one(s) commanded in action. It is useful for dynamic object following tasks.

Parameters

goal_updater_topic

Type: string Default: "goal_update"

The topic to receive the updated goal pose

goals_updater_topic

Type: string Default: "goals_update"

The topic to receive the updated goals poses

Input Ports

input_goal

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

The original goal pose.

input_goals

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

The original goals poses.

Output Ports

output_goal

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

The resulting updated goal. If no goal received by subscription, it will be the input_goal.

output_goals

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

The resulting updated goals. If no goals received by subscription, it will be the input_goals.

Example

<GoalUpdater input_goal="{goal}" input_goals="{goals}" output_goal="{goal}" output_goals="{goals}">
    <!--Add tree components here-->
</GoalUpdater>