This guide will teach you how to add a relocalization stream to your teleoperation view.
You must have a navigation stream configured for your device before you can add a relocalization stream. For more information, see Add a navigation stream.
- In Formant, in the upper-left corner, open the menu and click Settings.
- Click Devices, and then click on the device you want to configure.
- Click on the Teleoperation tab to open the teleoperation configuration page.
Formant supports the
geometry_msgs/PoseWithCovarianceStamped data type.
- In the teleoperation configuration page, scroll down to Relocalization and click the plus (+) icon.
- Formant will display a list of candidate streams on which you can post a new initial pose. Select one of these streams, or click Add ROS Topic:
- Enter the ROS topic which contains your relocalization data.
- Click Done, and then Save to confirm your teleoperation settings.
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Updated 2 months ago