Location date
? You mean Location data
, right?
In the ROS Navigation Stack, the basic tf is map->odom->base_link
, the encoders in your robot can get odometry infomation, from which you can get the pose of base_link
relative to odom
.
And with Ubisense
, you can get the position of base_link
relative to map
. With this position, you can adapt map->odom
to make your robot's position right.
I guess Ubisense
uploads the robot position to your computer(which runs ROS) through USB or Serial Port. After reading that info, you need to write a Publisher
program to publish your position to ROS(say topic /Ubisense/Pose
). This position info should in the geometry_msgs/Pose
format.(or other similar format).
And then, you need a tf
program which subscribes the topic /Ubisense/Pose
, and broadcast the tf map->odom
.
Good Luck.
You realize that you ask how to read data from your device without telling which device you have?
My device is a indoor positioning equipment called Ubisense which can publish location date(like three-dimensional coordinate x, y, z),but I don't know how ROS read it.
Could you please update your question? It's completely useless in it's current version.
Thanks.I thought there need a API so I can use directly.