<> {{attachment:Logo-white-medium.jpg||height="200",width="333"}} <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage == Description == This package is used to get poses from Rviz by using the goal tool and to store them in a XML-file {{attachment:pose_manager.png||width="750",height="230"}} == Functionality == To get a Pose you just have to use the destination tool so that rviz publish the pose in the corresponding topic. You can use this tool if you need to know a particular pose ( position and orientation ). The tools works also in simulation mode. This package subscribes to '''move_base/goal '''an saves every incoming Pose in a XML-file. The name of the XML-file is CURRENT_TIMEposen.xml and will be saved at the location the program starts. The format will be: The gotten Pose is also published on the ROS INFO stream for monitoring or direct copy/paste purposes. == Usage == Start all needet Components (Look at "Start system) Then press the "2D Nav Goal" Button. Click on a desired position on the map. => The Pose of this Click on the map is printed on the console and in the xml file. === Needed software === [[http://eigen.tuxfamily.org/index.php?title=Main_Page|Eigen (3.2.0)]] === Start system === 1. You must start the your navigation system, with the standard ROS-Navigation or asr_mild_navigation. 2. Start RVIZ 3. rosrun asr_rviz_pose_manager asr_rviz_pose_manager_node == ROS Nodes == === Subscribed Topics === '''move_base/goal '''(geometry_msgs/Pose): The poses to record