Get Robot global pose from a costmap in Python

edit

Here is a way,

1. install this robot_pose_publisher
2. rosrun robot_pose_publisher robot_pose_publisher.

3. write a subscriber for the topic '/robot_pose' with following callback_function. `

   import rospy
   from rospy import logdebug
   from geometry_msgs.msg import Pose
   
   def get_tf_pose_callback(pose):
         logdebug("robot is at : {0}".format(pose.position))
   
   if __name__ == '__main__':
         rospy.Subscriber("robot_pose", Pose, get_tf_pose_callback)
         rospy.spin()
   

` 4. rosrun your node.