ffset_pose - Man Page

Set initial pose for self-localization


ffset_pose [-r host[:port]] [-i ID] [-t SEC] — <x y theta|x y z qx qy qz qw>


This tool is used to instruct a self-localization component implementing a LocalizationInterface to set an initial pose. Thus, it allows to localize a robot in a given map.

The position is either given as a 2D pose as <x y theta> where (x,y) is a position on the X/Y ground plane of the reference frame. Theta is the orientation around the Z axis in radians. When given as a 3D pose, the arguments are a full position (x,y,z) in the reference frame and a quaternion in order (qx,qy,qz,qw) representing the orientation.


ffset_pose -r localhost:1910 -t 2.0 —  0.0 0.0 0.0

Set 2D pose at frame origin looking in X axis direction.

ffset_pose -r localhost:1910 -t 2.0 —  4.4 0.3 0.0 0.0 0.0 0.7 0.7

Set full 3D position on local Fawkes and try for 2 seconds.

See Also



Written by Tim Niemueller <niemueller@kbsg.rwth-aachen.de>


Documentation by Tim Niemueller <niemueller@kbsg.rwth-aachen.de>


Part of the Fawkes Robot Software Framework. Project website is at http://www.fawkesrobotics.org


11/25/2021 Fawkes 1.3.0 Fawkes Manual