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Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic
- Author: Stefan Kohlbrecher
- License: BSD
- Source: svn https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_slam
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic
- Author: Stefan Kohlbrecher
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: master)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic
- Author: Stefan Kohlbrecher
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: master)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: catkin)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: catkin)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: catkin)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: catkin)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: melodic-devel)
Package Summary
hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
- Maintainer status: maintained
- Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
- Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- License: BSD
Contents
Documentation
This package provides a node that saves tf based trajectory data given a target and and source frame. The trajectory is saved internally as a nav_msgs/Path and can be obtained using a service or topic. Internally, a tf::Transformlistener listens to tf, performs the necessary transformations and pushes resulting poses to the saved trajectory. The update and publish rates can be modified by parameters as described below.
ROS API
hector_trajectory_server
hector_trajectory_server is a node that saves trajectory data and makes it available using the ROS API described below.Subscribed Topics
syscommand (std_msgs/String)- System command. If the string equals "reset" the saved trajectory is cleared.
Published Topics
trajectory (nav_msgs/Path)- Get the traveled trajectory from this latched topic.
Services
trajectory (hector_nav_msgs/GetRobotTrajectory)- Call this service to get the traveled trajectory.
Parameters
~target_frame_name (string, default: "map")- The name of the tf target frame
- The name of the tf source frame
- The update rate [hz] for the saved trajectory
- The publish rate [hz] for the trajectory published on the "trajectory" topic.
