Local Pose Sensor

4.Local Pose Sensor

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

Require: core:AccessControl
Inherit from: none

4.1 Service Behavior

4.1.1 State Diagram

  Figure 3 Local Pose Sensor State Diagram

4.1.2 State Actions

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

4.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

4.1.4 Transitions

Transition Trigger Condition Action
A ieReceiveMessage Process received messages

4.2 Protocol

4.2.1 Incoming Message Set

# ID Message
1 H:0x00000001 L:0x00000204 Query Local Pose
2 H:0x00000001 L:0x00000205 Set Local Pose

4.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000206
Report Local Pose

4.3 Parameters

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

4.4 Data


  1. location=localpose, type=LocallPoseRec