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which package publishes odom? ROS Hydro + turtlebot

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

tanghz gravatar image

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...

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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 gravatar imageSL 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 gravatar imagetanghz ( 2015-01-24 22:07:36 -0600 )edit

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

kokirits gravatar image

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"
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answered 2015-01-23 01:28:09 -0600

Wolf gravatar image

Run your system and enter in a terminal

rostopic info /odom

Lists you typeand publishers/subcribers etc....

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

Seen: 148 times

Last updated: Jan 23 '15