which package publishes odom? ROS Hydro + turtlebot

asked 2015-01-22 21:04:49 -0600

tanghz
130 ●12 ●17 ●25

updated 2015-01-22 21:12:26 -0600

Sorry to disturb everyone.

But I want to know where the odom is published, as I want to record the odom message without the help of topic. I have searched over and over again, but still no found...

Heartfelt thanks to you!! And sorry to my poor English...

edit retag flag offensive close merge delete

Comments

Topics are an essential communications resource in ROS. I'm assuming that you mean that you'd like to save/store the data from odom not just "look" at it with rostopic? (Can you clarify what you need?)

SL Remy ( 2015-01-22 21:52:26 -0600 )edit

@SL Remy

I am really sorry! Thank you! I want to save the odom data before it is published, as my teacher told me that the ros topic would cost more time, which will lead to the poor real-time of the odom.

tanghz ( 2015-01-24 22:07:36 -0600 )edit

add a comment

2

answered 2015-01-23 01:58:14 -0600

kokirits

290 ●6 ●10 ●23

updated 2015-01-23 02:02:36 -0600

If you want to record the odometry file in a .csv file do the following in different terminals:

roslaunch turtlebot_bringup minimal.launch //launches roscore along with other turtlebot nodes


rosbag record -j -O house_bag /mobile_base/commands/velocity /odom //records the velocity and odometry topics and creates a .bag file named "house_bag"


//do some moving around with your turtlebot

rostopic echo -b house_bag.bag -p /odom > house_odom.csv //After you are done, this command exports the odometry csv file out of "house_bag.bag"