Odometry from tf/tfMessage

asked 2016-04-04 15:49:38 -0500

Karel Wosiack gravatar image

I'm using gmapping to make the map from a prerecorded Rosbag file, which contains laser and TF topics. I'm able to do the map without any problems.

Somehow I need to access the odometry information that was recorded on the Rosbag file to implement one EKF filter, how can I obtain the raw odometry data to use it as a sensor information to fuse it my filter?

I am a little bit lost, some help will be useful. Thanks

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Which frame to which frame does your tf msg keep track of?

DavidN gravatar image DavidN  ( 2016-04-04 20:44:25 -0500 )edit

In the RVIZ I can see that I have the base_link, laser_frame, map and odom TF but I don't understand how I obtain the odom raw data. When I had by display type in RVIZ (not by topic) the odometry it says "Status: Ok" but in the Topic I don't have nothing. The robot moves in the environment

Karel Wosiack gravatar image Karel Wosiack  ( 2016-04-05 07:32:59 -0500 )edit

Can you try to run view_frames ( http://wiki.ros.org/tf#view_frames ) and post the result? I think first we need to make sure the tf has the correct transform from base link to odom frame first before thinking of extracting the odom data.

DavidN gravatar image DavidN  ( 2016-04-05 21:06:25 -0500 )edit