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AFAIR, it is not possible to get something related to uncertainty from tf. So the only point I see (besides changing the source code of gmapping
itself) is to subscribe to the ~entropy
topic of gmapping
and reason a bit about that. To quote the wiki:
~entropy (std_msgs/Float64) Estimate of the entropy of the distribution over the robot's pose (a higher value indicates greater uncertainty). New in 1.1.0.