How to set the Z coordinate information in the initial pose?

[goruchanchan]

What I want

When using the 2D Pose Estimate tool to input 2D initial pose(x,y,θ), I would like to be able to adjust the height(z) synchronously as well.

Why need?

In the case of 3D pose estimation, the height must also be adjusted to set the initial pose properly.

The current method is achieved by flying geometry_msgs/msg/PoseWithCovarianceStamped type data by ros2 topic pub by itself.

Specifically, it is as follows.

1. Check the value adjusted by Rviz2 for 2D pose.
2. Adjust that data to /initialpose.
3. Adjust the height (z) of [2. data].
4. Send [3. data] by ros2 topic pub.

The workflow of steps 2 and 3 is complicated, so I am wondering if RViz2 can provide height to improve the workflow.

Or if there is an efficient way to do this, I would like to know.

Actual Result

Currently, it is fixed at 0.

[clalancette]

The 2D pose estimation tool is exactly what it says: for 2 dimensions.

There could in theory be a 3D pose estimation tool, but it isn't clear how you would design the user interaction for this. You can't just do it based on a click on the canvas, since that is only in 2 dimensions. One idea to do this is to have a 2D point, but then also have a slider or something like that for adjusting the Z coordinate (the drone community does something like this).

Another way to do this in a kind of hacky way is to introduce another node that listens to the (remapped) /initial_pose, adds in a Z-coordinate, and then republishes onto /initial_pose.

We aren't likely to look into a new 3D pose estimation tool in the near future, so I'm putting this on the backlog. We'd be happy to review pull requests that added it, though.

[goruchanchan]

Thanks for the response.

it isn't clear how you would design the user interaction for this.

You are right, that is exactly what I was thinking. The example of the drone community was very helpful! Thanks! I will take a look at that one as well!

We'd be happy to review pull requests that added it, though.

We'd love to have the opportunity to do so again. Thank you very much for this time!