vpr_local_relocalization
Service type: fourier_msgs/srv/VPRLocalRelocalization
File
fourier_msgs/srv/VPRLocalRelocalization.srv
Description
Triggers relocalization. GRW directly requests a localization reset and does not restrict candidates using the requested area.
Service name: /slam/trigger_local_relocalization
Request
| Element | Type | Description |
|---|---|---|
| polygon_vertices | geometry_msgs/Point32[] | IDL compatibility field; ignored. Pass an empty array. |
Response
| Element | Type | Description |
|---|---|---|
| success | bool | Whether the request was submitted to navigation. |
| message | string | ok or a failure description. |
| candidate_count | int32 | Always 0 in the current implementation. |
Example
Complete Environment Preparation first: the CLI examples require
ROBOT_NAMESPACEto be set.
Bash
ros2 service call $ROBOT_NAMESPACE/slam/trigger_local_relocalization fourier_msgs/srv/VPRLocalRelocalization "{polygon_vertices: []}"