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Documentation

This package provides a node that saves tf based trajectory data given a target and and source frame. The trajectory is saved internally as a nav_msgs/Path and can be obtained using a service or topic. Internally, a tf::Transformlistener listens to tf, performs the necessary transformations and pushes resulting poses to the saved trajectory. The update and publish rates can be modified by parameters as described below.

ROS API

hector_trajectory_server

hector_trajectory_server is a node that saves trajectory data and makes it available using the ROS API described below.

Subscribed Topics

syscommand (std_msgs/String)

• System command. If the string equals "reset" the saved trajectory is cleared.

Published Topics

trajectory (nav_msgs/Path)

• Get the traveled trajectory from this latched topic.

Services

trajectory (hector_nav_msgs/GetRobotTrajectory)

• Call this service to get the traveled trajectory.

Parameters

~target_frame_name (string, default: "map")

• The name of the tf target frame

~source_frame_name (string, default: "base_link")

• The name of the tf source frame

~trajectory_update_rate (double, default: 4.0)

• The update rate [hz] for the saved trajectory

~trajectory_publish_rate (double, default: 0.25)

• The publish rate [hz] for the trajectory published on the "trajectory" topic.