EgoPose

class mobrob_behcon.connectors.egopose.EgoPose(ros_topic)

The class EgoPose

Represents a connector to the positioning topics of the robot. Provides a function to get the current pose of the robot.

Methods

__init__(ros_topic)	constructor
callbackOdometry(msg)	callback function for topics of type nav_msgs/Odometry
callbackPose(msg)	callback function for topics of type myrobot_model/Pose
get_current_pose()	Get current pose of robot
get_current_time()	Get current time in milliseconds

Details

__init__(ros_topic)

constructor

Parameters

ros_topic (string) – possible topics are ‘/pose’ (myrobot_model/Pose) or ‘/odom’ (nav_msgs/Odometry)

callbackOdometry(msg)

callback function for topics of type nav_msgs/Odometry

Parameters

msg – receiving message

callbackPose(msg)

callback function for topics of type myrobot_model/Pose

Parameters

msg – receiving message

get_current_pose()

Get current pose of robot

Returns

current pose (x, y, yaw), age of data (milliseconds)

Return type

(float, float, float), int

static get_current_time()

Get current time in milliseconds

Returns

time in milliseconds