diff --git a/include/iri_ana_nav_module/iri_ana_nav_module_bt.h b/include/iri_ana_nav_module/iri_ana_nav_module_bt.h
index ec8a7a558b49db6b34f3659d310b614c3f235d89..966064cb91e12818f8257f8459bda64ac334cde7 100644
--- a/include/iri_ana_nav_module/iri_ana_nav_module_bt.h
+++ b/include/iri_ana_nav_module/iri_ana_nav_module_bt.h
@@ -52,6 +52,8 @@ class CIriAnaNavModuleBT
     */
     ~CIriAnaNavModuleBT();
 
+    geometry_msgs::Pose getCurrentPose();
+
   protected:
 
     // basic navigation synchronous functions
diff --git a/src/iri_ana_nav_module_bt.cpp b/src/iri_ana_nav_module_bt.cpp
index aaadd2004145355a72dd66501b2a985b1b57c124..71e3b90ae2cfcd28ac05cf68eb4e7cc7fcf0c682 100644
--- a/src/iri_ana_nav_module_bt.cpp
+++ b/src/iri_ana_nav_module_bt.cpp
@@ -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;
+}