<<PackageHeader(pose_publisher)>>

= Package Summary =

A package that provides current position and orientation of the robot in the map.

 * Author: Zhi Yan
 * License: BSD
 * Source: git https://github.com/yzrobot/pose_publisher.git (branch: master)

<<TOC(4)>>

== 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 ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = pose_publisher
  desc = `pose_publisher` provides the current position and orientation of the robot in the map.
  pub {
    0.name = /pose
    0.type = geometry_msgs/PoseStamped
    0.desc = Current robot pose.
  }
  param {
    0.name = ~publish_frequency
    0.type = double
    0.desc = Frequency (hz) at which to publish the robot pose.
    0.default = 10.0
    1.name = ~map_frame
    1.type = std::string
    1.desc = The frame attached to the map.
    1.default = map
    2.name = ~base_frame
    2.type = std::string
    2.desc = The frame attached to the mobile base.
    2.default = base_link
  }
}
}}}

== Usage ==
{{{
rosrun pose_publisher pose_publisher
}}}

== Related Documentation ==

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


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