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 |
---|---|
READY |
|
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
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving local pose updates, default=0.5.
4.4 Data
Set:
- location=localpose, type=LocallPoseRec