1FFSET_POSE(1)                    Fawkes Manual                   FFSET_POSE(1)
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NAME

6       ffset_pose - Set initial pose for self-localization
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SYNOPSIS

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

12       This tool is used to instruct a self-localization component
13       implementing a LocalizationInterface to set an initial pose. Thus, it
14       allows to localize a robot in a given map.
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16       The position is either given as a 2D pose as <x y theta> where (x,y) is
17       a position on the X/Y ground plane of the reference frame. Theta is the
18       orientation around the Z axis in radians. When given as a 3D pose, the
19       arguments are a full position (x,y,z) in the reference frame and a
20       quaternion in order (qx,qy,qz,qw) representing the orientation.
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EXAMPLES

23       ffset_pose -r localhost:1910 -t 2.0 —  0.0 0.0 0.0
24           Set 2D pose at frame origin looking in X axis direction.
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26       ffset_pose -r localhost:1910 -t 2.0 —  4.4 0.3 0.0 0.0 0.0 0.7 0.7
27           Set full 3D position on local Fawkes and try for 2 seconds.
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SEE ALSO

30       fawkes(8)
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AUTHOR

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

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

39       Part of the Fawkes Robot Software Framework. Project website is at
40       http://www.fawkesrobotics.org
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44Fawkes 1.3.0                      04/12/2022                     FFSET_POSE(1)
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