Position

Description

Collect x, y and yaw of the robot.

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": "Position",
    "description": "Position and orientation of the robot",
    "properties": {
        "x": {
            "description": "X position of the robot",
            "type": "number"
        },
        "y": {
            "description": "Y position of the robot",
            "type": "number"
        },
        "yaw": {
            "description": "Yaw angle of the robot",
            "type": "number"
        }
    },
    "type": "object"
}

Configuration

...
position:
  plugin: "dc_measurements/Position"
  topic_output: "/dc/measurement/position"

Example output

{
  "flattened": false,
  "name": "position",
  "nested": false,
  "run_id": "169",
  "x": 0.0,
  "y": 0.0,
  "yaw": 0.0
}