The goal server remembers the robot's goal and makes this information available to the rest of the system. It is advantageous to have a single node in charge of this, in order to keep the overall system consistent. Whenever a change in the goal is desired, a message containing the new goal pose is sent to the goal server.
API Documentation
goal_server_cu
goal_server_cu keeps track of the current goal and makes this available to the system in the map coordinate frame (/map_cu). goal_server_cu subscribes to a topic where incoming messages are remembered as the current goal, which is then published and also available via a service.Subscribed Topics
/cu/reset_goal_cu (geometry_msgs/PoseStamped)- A new robot goal in map coordinates (/map_cu).
Published Topics
/cu/goal_cu (geometry_msgs/PoseStamped)- Pose of the goal in map coordinates (/map_cu).
Services
/cu/get_goal_cu (localization_cu/GetPose)- Pose of the goal in map coordinates (/map_cu).
Parameters
~goal_pose_x_init (double, default: 0 (m))- Initial x value for the goal pose (/map_cu). Units are in meters.
- Initial y value for the goal pose (/map_cu). Units are in meters.
- Initial theta value for the odometer pose (/map_cu). Units are in radians.
