How to merge two different topics and create a new one?
I am trying to publish odometry data from a STM32-F446re over serial and using rosserial_python for subscribing/publishing.
Since odometry messages are very big to transfer over serial, I only want to publish pose and twist without covariance matrices and would like to construct odom topic at the host side (add covariance at the host side).
How can I merge pose and twist messages to create a odom message?
If both of these messages are coming from the same source, it might be easier to define a custom message that contains a pose and a twist so that you can publish that on a single topic, and then write a node which converts that into a full odom message.
Other than creating a custom message and writing a node, can I achieve this with using any tool (like any topic_tools feature)?