ROS Pose, PoseStamped and Odometry

Adapter Types: "ros.pose", "ros.posestamped" and "ros.odometry"

These adapters subscribe to a ROS Pose, PoseStamped or Odometry topic. Each keeps a single node in the map positioned by the most recent message, by way of a transform edge from a parent frame to the node.

Warning

The ROS component needs to be enabled within the agent for ROS adapters to function. For more information, see ROS.

Note

The source setting of an adapter which subscribes to a ROS topic is the topic path as presented in the live data viewer. This means for a ROS source of the form "/camera/rgb/points", the path is "/ros/camera/rgb/points".

A Pose message has no header, so the parent frame has to be configured. PoseStamped and Odometry messages carry the parent frame in their header.

Setting	Type	Description	Default
source	string	The topic path of the message source.
parent_frame	string	The ID of the frame the pose is relative to. Only for ros.pose, where it is required.
node_id	string	The ID of the node to position.	The name of the adapter
node_type	string	The type of the node, if it is created by the adapter.	"FRAME"

Example

"uniqueAdapterName": {
  "enabled": true,
  "type": "ros.odometry",
  "settings": {
    "source": "/ros/odom",
    "node_id": "robot"
  }
}