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Commit afa2d8d2 authored by José Enrique Domínguez Vidal's avatar José Enrique Domínguez Vidal
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First version going to track original position

parent 2a8eddef
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......@@ -52,6 +52,8 @@ class CIriAnaNavModuleBT
*/
~CIriAnaNavModuleBT();
geometry_msgs::Pose getCurrentPose();
protected:
// basic navigation synchronous functions
......
......@@ -824,3 +824,10 @@ BT::NodeStatus CIriAnaNavModuleBT::costmap_is_auto_clear_enabled()
}
return BT::NodeStatus::SUCCESS;
}
geometry_msgs::Pose CIriAnaNavModuleBT::getCurrentPose()
{
ROS_INFO("getCurrentPose");
geometry_msgs::Pose current_pose = nav.getCurrentPose();
return current_pose;
}
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