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Output Robotmodel Position in rviz

robotmodel

asked 2016-06-24 00:33:55 -0600

wwei
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I just started learning ros. I followed the turtlebot tutorial to do robot navigation. But I need to store the trace of robot position to an individual file instead of displaying on rviz. The position is displayed in rviz->robotmodel->links->base_link. I thought I could find this data in topic list but I did not. What can I do to access those position data?

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answered 2016-06-24 03:37:01 -0600

Boris

3060 ●32 ●57 ●83 http://people.idsia.ch/~gromov

Probably the display you are using in RViz is TF. So have a look at Tutorials. Particularly, you can use tf::TransformListener to get a coordinate frame transformation between '/world' and '/base_link' frames to acquire robot's pose in global frame.

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Asked: 2016-06-24 00:33:55 -0600

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Last updated: Jun 24 '16

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