Odometry without covariance

asked 2018-11-30 12:48:25 -0500

wintermute gravatar image


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.

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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.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-12-01 10:42:04 -0500 )edit

You can always create your own message type that doesn't include that information.

stevemacenski gravatar image stevemacenski  ( 2018-12-04 11:53:11 -0500 )edit