Distance traveled

Description

Collect total distance traveled in the robot since it is powered.

Parameters

Parameter	Description	Type	Default
global_frame	Global frame	str	"map"
robot_base_frame	Robot base frame	str	"base_link"
transform_timeout	TF Timeout to use for transformation	float	0.1

Schema

{
    "$schema": "http://json-schema.org/draft-07/schema#",
    "title": "Distance traveled",
    "description": "Total distance traveled in meters by the robot",
    "properties": {
        "distance_traveled": {
            "description": "Total distance traveled in meters",
            "type": "number"
        }
    },
    "type": "object"
}

Measurement configuration

...
distance_traveled:
  plugin: "dc_measurements/DistanceTraveled"
  topic_output: "/dc/measurement/distance_traveled"
  tags: ["flb_stdout"]
  global_frame: "map"
  robot_base_frame: "base_link"
  transform_timeout: 0.1