This package provides a ROS node for estimating the cart position.

Advertised topics

cart_footprint (geometry_msgs/PolygonStamped)

  • A polygon representing the estimated current bounding box for the cart

Transforms provided

A transform from cart to base_footprint representing the estimated cart pose.

Transforms required

Transforms between base_footprint and the gripper frames specified by the ros parameters.

Services required


  • Used to transform gripper poses into cart pose

ROS parameters


  • cart dimensions


  • The frames representing the gripper poses


  • The offset of the cart reference point from the corner

Wiki: cart_state_estimator (last edited 2010-10-07 21:55:20 by BhaskaraMarthi)