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

Provides
  • interface_position2d
    • commands will be passed to "local" position2d device (VELOCITY COMMANDS ONLY!)
Requires
  • interface_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