Odometry from tf/tfMessage
I'm using gmapping to make the map from a prerecorded Rosbag file, which contains laser and TF topics. I'm able to do the map without any problems.
Somehow I need to access the odometry information that was recorded on the Rosbag file to implement one EKF filter, how can I obtain the raw odometry data to use it as a sensor information to fuse it my filter?
I am a little bit lost, some help will be useful. Thanks
Which frame to which frame does your tf msg keep track of?
In the RVIZ I can see that I have the base_link, laser_frame, map and odom TF but I don't understand how I obtain the odom raw data. When I had by display type in RVIZ (not by topic) the odometry it says "Status: Ok" but in the Topic I don't have nothing. The robot moves in the environment
Can you try to run view_frames ( http://wiki.ros.org/tf#view_frames ) and post the result? I think first we need to make sure the tf has the correct transform from base link to odom frame first before thinking of extracting the odom data.