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hector_slam: hector_compressed_map_transport | hector_geotiff | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
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hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
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Used by (3)

Package Summary

Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package LinksDependencies (4)
Used by (3)

Package Summary

Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
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Used by (4)

Package Summary

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Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package LinksDependencies (6)
Used by (3)

Package Summary

Released
Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package LinksDependencies (6)
Used by (3)

Package Summary

Released
Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package LinksDependencies (6)
Used by (3)

Package Summary

Released
Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package LinksDependencies (6)
Used by (3)
Jenkins jobs (6)

Package Summary

Released
Documented

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

Package LinksDependencies (6)
Jenkins jobs (5)

Package Summary

Released
No API documentation

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

  • Maintainer status: maintained
  • Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
  • Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
  • License: BSD

Contents

  1. Documentation
  2. ROS API
    1. hector_trajectory_server
      1. Subscribed Topics
      2. Published Topics
      3. Services
      4. Parameters

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.

Wiki: hector_trajectory_server (last edited 2012-03-06 18:36:18 by StefanKohlbrecher)

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