TruncatePathLocal

A custom control node, which modifies a path making it shorter. It removes parts of the path which are more distant than specified forward/backward distance around robot

Input Ports

input_path:

Type	Default
nav_msgs/Path	N/A

Description: The original path to be truncated.

distance_forward:

Type	Default
double	8.0

Description: The trimming distance in forward direction.

distance_backward:

Type	Default
double	4.0

Description: The trimming distance in backward direction.

robot_frame:

Type	Default
string	“base_link”

Description: Robot base frame id.

transform_tolerance:

Type	Default
double	0.2

Description: Robot pose lookup tolerance.

pose:

Type	Default
geometry_msgs/PoseStamped	N/A

Description: Manually specified pose to be used alternatively to current robot pose.

angular_distance_weight:

Type	Default
double	0.0

Description: Weight of angular distance relative to positional distance when finding which path pose is closest to robot. Not applicable on paths without orientations assigned.

max_robot_pose_search_dist:

Type	Default
double	infinity

Description: Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to infinity (default), whole path is searched every time.

Output Ports

output_path:

Type	Default
nav_msgs/Path	N/A

Description: The resulting truncated path.

Example

<TruncatePathLocal input_path="{path}" output_path="{path_local}" distance_forward="3.5" distance_backward="2.0" robot_frame="base_link"/>