Global Pose Sensor

3.Global Pose Sensor

The Global Pose Sensor service reports the locations of the mobility system in the Global Coordinate frame.

Require: core:AccessControl
Inherit from: none

3.1 Service Behavior

3.1.1 State Diagram

  Figure 2 Global Pose Sensor State Diagram

3.1.2 State Actions

State Actions
  • Report location of the mobility base system in global coordinate frame.

3.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

3.1.4 Transitions

Transition Trigger Condition Action
A ieReceiveMessage Process received messages

3.2 Protocol

3.2.1 Incoming Message Set

# ID Message
1 H:0x00000001 L:0x00000201 Query Global Pose
2 H:0x00000001 L:0x00000202 Set Global Pose

3.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000203
Report Global Pose

3.3 Parameters

  1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
  2. DATATIMEOUT double, timeout in seconds for not receiving global pose updates, default=0.5.

3.4 Data


  1. location=globalpose, type=GlobalPoseRec