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I created a node and subscribe a topic (nav_msgs/Odometry Message) i want operate with the quaternion, how i can get it value? With python
i try it this way:
rospy.Subscriber('/odometry/filtered', Odometry)
x = Odometry.pose.pose.pose.orientation.x
but not work well
First, your subscriber must use a callback, I suggest trying the ROS publisher subscriber tutorial.
I suppose you want to get the orientation in the Euler angle format (rotations around the x-y-z axis). Once you're able to receive the message through the callback, you can use the following code to access the angles.
import tf
orientation_euler = tf.transformations.euler_from_quaternion( odom_msg.pose.pose.orientation)
# use the angles with orientation_euler.x, orientation_euler.y, orientation_euler.z
Asked: 2015-05-20 06:16:33 -0500
Seen: 1,601 times
Last updated: May 20 '15
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