This driver replaces local (odometry) position data with global position.
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This driver replaces local (odometry) position data with global position.
- Provides
- position2d
- commands will be passed to "local" position2d device (VELOCITY COMMANDS ONLY!)
- Requires
- position2d
- key "local" - local position2d device
- key "global" - global positioning device (amcl or something)
- Configuration requests
- cmd_interval (float)
- default: -1.0
- if greater than zero, commands will be sent with this interval
- Configuration file options
- Example
driver
(
name "globalize"
provides ["position2d:10"]
requires ["local:::position2d:0" "global:::position2d:1"]
)
- Author:
- Paul Osmialowski