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Tf is good enough to visualize the position of your robot, it's even better than some arrows. Why do you want display a odometry type in rviz ? At worst it's easy to build a node to convert from PoseStamped to nav_msgs/Odometry, see the definition poseStamped and odometry. Odometry has also velocity terms and robot_pose_ekf only give you a position. Odometry type in rviz display you a arrow in the position and oriented to the velocity direction.

Tf is good enough to visualize the position of your robot, it's even better than some arrows. Why do you want display a odometry type in rviz ? At worst it's easy to build a node to convert from PoseStamped to nav_msgs/Odometry, see the definition poseStamped and odometry. Odometry has also velocity terms and robot_pose_ekf only give gives you a position. Odometry type in rviz display you a arrow in the position and oriented to the velocity direction.