mogi_trajectory_server

Trajectory visualization for ROS2 with pretty much the same functionality as hector_trajectory_server for ROS1. This package provides a node that saves trajectory data using a TransformListener between reference_frame_id and robot_frame_id, the trajectory is saved internally as a nav_msgs/Path and can be obtained through the trajectory_topic topic. The update_rate, publish_rate and min_distance - that triggers an update - can be modified by parameters as described below.

Usage:

Starting it as a node:

ros2 run mogi_trajectory_server mogi_trajectory_server

or within your launch file:

trajectory_node = Node(
    package='mogi_trajectory_server',
    executable='mogi_trajectory_server',
    name='mogi_trajectory_server',
    parameters=[{'reference_frame_id': 'map'},
                {'robot_frame_id': 'base_link'}]
)

Subscribed Topics:

No topic subscription is needed because the node uses a TransformListener.

Published Topics:

trajectory (nav_msgs/Path)

Parameters:

~trajectory_topic (string, default: "trajectory")
The name of the published trajectory topic

~reference_frame_id (string, default: "odom")
The name of the tf target frame, change it to map if your fixed frame is a map. It is also used in the published trajectory message's header

~robot_frame_id (string, default: "base_link")
The name of the tf source frame = robot chassis frame

~update_rate (double, default: 3.0)
The update rate in Hz for the trajectory update interanally using tf and TransformListener

~publish_rate (double, default: 2.0)
The publish rate in Hz for the trajectory published on the trajectory topic

~min_distance (double, default: 0.1)
The minimum movement of the robot that triggers an update within the node

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mogi_trajectory_server_topic_based

Pretty much identical functiuonality but uses an odometry topic as input instead of TransformListener. It's not accurate on maps and in general not recommended to use over the mogi_trajectory_server but can be still useful in certain use cases. This package provides a node that saves trajectory data based on the odometry_topic topic, the trajectory is saved internally as a nav_msgs/Path and can be obtained through the trajectory_topic topic. The publish_rate and min_distance - that triggers an update - can be modified by parameters as described below.

Usage:

Starting it as a node:

ros2 run mogi_trajectory_server mogi_trajectory_server

or within your launch file:

trajectory_node = Node(
    package='mogi_trajectory_server',
    executable='mogi_trajectory_server',
    name='mogi_trajectory_server',
    parameters=[{'frame_id': 'odom'},
                {'odometry_topic': 'odom'}]
)

Subscribed Topics:

odom (nav_msgs/Odometry)

Published Topics:

trajectory (nav_msgs/Path)

Parameters:

~odometry_topic (string, default: "odom")
The name of the odometry topic that the node subscribes

~trajectory_topic (string, default: "trajectory")
The name of the published trajectory topic

~frame_id (string, default: "odom")
The name of the target frame in the published message's header

~min_distance (double, default: 0.1)
The minimum movement of the robot that triggers an update within the node

~publish_rate (double, default: 2.0)
The publish rate in Hz for the trajectory published on the trajectory topic.