Globalize

This driver replaces local (odometry) position data with global position. More...

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

• None

Example

driver
(
  name "globalize"
  provides ["position2d:10"]
  requires ["local:::position2d:0" "global:::position2d:1"]
)

Author:

Paul Osmialowski