Hello,

Is there anyway to send the odometry message without covariance? I followed the http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom tutorial to write a odometry transmitter on my platform (TM4C123) following http://wiki.ros.org/rosserial_tivac and the problem is these devices can only do 512 bytes serial buffer.

So both the odometry message object, and the twist object as covariance arrays of float[36]. which takes most of the space in the serial packet.

Is there anyway to use odometry without the covariance array? i just dont want to serialize that part of the message?

Best regards, C.