Set Pose

This package provides the capacities to change the position estimate of the real car. It is particularly useful at startup, when the localization system has not converged and therefore automatic driving cannot be launched right away. This package can however be also useful in other circumstances when the car localization system has not properly converged, e.g. after a crash.

Basic usage

The package inclusion in a launch file can be seen in the stack master base_system launch file.

<!--  launch slam pose setter -->
<node pkg="set_pose" type="set_pose_node.py" name="set_slam_pose_node" output="screen">
    <!-- Set the config dir of SLAM -->
    <param name="config_dir" value="$(find stack_master)/config/$(arg racecar_version)/slam"/>
    <param name="config_base" value="f110_2d_loc.lua"/>
</node>

How does it works

The pose can be set easily with the "2d Pose Estimate" button in the RViz interface.

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