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Package Summary

A package that provides current position and orientation of the robot in the map.

About

The pose_publisher package contains a ROS node that provides current position and orientation of the robot in the map. This package can be used in multi-robot systems.

Nodes

pose_publisher

pose_publisher provides the current position and orientation of the robot in the map.

Published Topics

/pose (geometry_msgs/PoseStamped)
  • Current robot pose.

Parameters

~publish_frequency (double, default: 10.0)
  • Frequency (hz) at which to publish the robot pose.
~map_frame (std::string, default: map)
  • The frame attached to the map.
~base_frame (std::string, default: base_link)
  • The frame attached to the mobile base.

Usage

rosrun pose_publisher pose_publisher

Please refer to the following paper to retrieve more information on the node:

@inproceedings{yz14simpar,
author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}
}

Support

Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi

Ecole des Mines de Douai, 59508 Douai, France

http://car.mines-douai.fr

Wiki: pose_publisher (last edited 2015-02-12 11:23:40 by ZhiYan)