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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...
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"
Run your system and enter in a terminal
rostopic info /odom
Lists you typeand publishers/subcribers etc....
Asked: 2015-01-22 21:04:49 -0500
Seen: 219 times
Last updated: Jan 23 '15
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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
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.