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subscribing to AMCL pose

asked 2016-11-14 06:56:40 -0600

adityakamath gravatar image

updated 2016-11-14 07:26:16 -0600

Hi, I am a ROS beginner and this might seem like a silly doubt but I haven't found the solution on the forums yet.

I have a robot which is localizing using AMCL. I wish to write a subscriber that can subscribe to the amcl_pose topic and read the geometry_msgs/PoseWithCovarianceStamped to be used somewhere else.

This is the code that I have for now but I am receiving a lot of errors but I am unclear on what is going wrong

#include "ros/ros.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
double poseAMCLx, poseAMCLy, poseAMCLa;
void poseAMCLCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msgAMCL)
    poseAMCLx = msgAMCL->pose.pose.position.x;
    poseAMCLy = msgAMCL->pose.pose.position.y;
    poseAMCLa = msgAMCL->pose.pose.orientation.w;   

int main(int argc, char **argv)
    ros::init(argc, argv, "err_eval");
    ros::NodeHandle n;
    ros::Subscriber sub_amcl = n.subscribe<geometry_msgs::PoseWithCovarianceStamped>("amcl_pose", poseAMCLCallback);
    ros::Rate loop_rate(10);

    int count = 0;
    while (ros::ok())

        geometry_msgs::Pose error;
        error.position.x = poseAMCLx;
        error.position.y = poseAMCLy;
        error.orientation.w = poseAMCLa;


    return 0;


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maybe you could also post the errors you are receiving so we at least can guess what the actual problem is?

mgruhler gravatar image mgruhler  ( 2016-11-15 01:13:38 -0600 )edit

2 Answers

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answered 2018-04-16 18:58:36 -0600

Karim Chamaa gravatar image

Change your subscriber statement to this: ros::Subscriber sub_amcl = n.subscribe("amcl_pose", 100, poseAMCLCallback);

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answered 2020-04-27 05:09:04 -0600

ILYAS Meo gravatar image

!/usr/bin/env python

I did it like this in Python to get X,Y,Yaw

import rospy

import math from geometry_msgs.msg import PoseWithCovarianceStamped from tf.transformations import euler_from_quaternion, quaternion_from_euler

roll = pitch = yaw = 0.0

def get_rotation (msg): global roll, pitch, yaw orientation_q = msg.pose.pose.orientation orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] (roll, pitch, yaw) = euler_from_quaternion (orientation_list)
print('X =',msg.pose.pose.position.x, 'Y =',msg.pose.pose.position.y, 'Yaw =',math.degrees(yaw))


sub = rospy.Subscriber ('/amcl_pose', PoseWithCovarianceStamped, get_rotation) # geometry_msgs/PoseWithCovariance pose

r = rospy.Rate(1) while not rospy.is_shutdown(): quat = quaternion_from_euler (roll, pitch,yaw) # print quat r.sleep()

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Asked: 2016-11-14 06:56:40 -0600

Seen: 2,783 times

Last updated: Nov 14 '16