Computing PoseWithCovariance's 6x6 matrix
Greetings,
I'm currently developing in Unity3D a projection mapping application to be used with a projector mounted on a robot, displaying Augmented Reality content in any (planar) surface. The application will require the robot's positioning which will be published in a ROS topic. Unfortunately I don't have access to the robot yet, however I do know the type of message chosen to represent its location: PoseWithCovariance msg (docs.ros.org/api/geometry_msgs/html/msg/PoseWithCovariance.html)
My experience with ROS is extremely limited and the end goal is to convert the positional information contained within PoseWithCovariance's 6x6 matrix and convert it to its respective 3D position and orientation in a referential defined within Unity3D. The values in Unity3D are simply the position (x,y,z) and rotation around the 3 axis. My problem lies with the conversion of the matrix into those values. Unfortunately the raw message definition alone linked earlier doesn't include an example of some sort or additional info on how to convert the matrix values.
Any help would be greatly appreciated!