nav_msgs/Odometry to tf2_msgs/TFMessage

asked 2017-08-28 07:14:31 -0500

updated 2017-08-28 07:17:13 -0500

I am following this tutorial here for understanding how to use laserscanner data. There is a bag file which publishes laser scan data alongside odometry data. So it doesn't publish anything on /tf topic but gives out Odometry message. Is there a way to convert that Odometry info to TF ? I have rosbag file which Is there a way to convert that odometry data to tf?

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What exactly do you want to publish to /tf? The pose of the robot or also the robot structure? For the latter you need to know the robot configuration (i.e. position from laserscanner to base etc.), if you just want the odometry pose as tf you can refer to this question

rfn123 gravatar image rfn123  ( 2020-08-12 04:22:20 -0500 )edit