<> <> == 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 <> 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 == <> {{{ #!clearsilver CS/NodeAPI node.0 { name=hector_trajectory_server desc=`hector_trajectory_server` is a node that saves trajectory data and makes it available using the ROS API described below. sub{ 0.name= syscommand 0.type= std_msgs/String 0.desc= System command. If the string equals "reset" the saved trajectory is cleared. } pub{ 0.name=trajectory 0.type= nav_msgs/Path 0.desc= Get the traveled trajectory from this latched topic. } srv { 0{ name = trajectory type = hector_nav_msgs/GetRobotTrajectory desc = Call this service to get the traveled trajectory. } } param{ 0.name = ~target_frame_name 0.type = string 0.default = `"map"` 0.desc = The name of the [[tf]] target frame 1.name = ~source_frame_name 1.type = string 1.default = `"base_link"` 1.desc = The name of the [[tf]] source frame 2.name = ~trajectory_update_rate 2.type = double 2.default = 4.0 2.desc = The update rate [hz] for the saved trajectory 3.name = ~trajectory_publish_rate 3.type = double 3.default = 0.25 3.desc = The publish rate [hz] for the trajectory published on the "trajectory" topic. } } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage