Odometry without covariance
Hello,
Is there anyway to send the odometry message without covariance? I followed the http://wiki.ros.org/navigation/Tutori... 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.
ROS is about using standardized messages, so I guess the answer is no. But you could for example use your own odom message and later convert it to nav_msgs/Odometry.
You can always create your own message type that doesn't include that information.