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Definitions of map and tf using turtlebot3

asked 2020-07-15 08:44:13 -0500

dapt gravatar image

Hello, I am using turtlebot3 and SLAM.
My environment is Ubuntu 18.04 LTS and ROS1 melodic. I have the questions about /tf and /map.
I want to implement subscriber callback, but I don't know the type of the argument.
What are the map and tf type definitions and required header files?

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Subscriber to what? Give more details on your problem please

kosmastsk gravatar image kosmastsk  ( 2020-07-15 13:47:18 -0500 )edit

I am using turtlebot3 and its SLAM g-mapping. I see /tf and /map on rqt_graph, but I want to subscribe to them on another node that created cpp. At this time, the subscriber created with cpp receives msg by callback, but I do not know the type of these msg.

void Callback(T msg){}

I don't know what should come in the T part.

dapt gravatar image dapt  ( 2020-07-15 22:48:27 -0500 )edit

In another terminal type rostopic info /topic_name and you can find it

kosmastsk gravatar image kosmastsk  ( 2020-07-16 01:43:14 -0500 )edit

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answered 2020-07-16 04:40:11 -0500

Abelard gravatar image

You can check more info of any topic/service from terminal by

rostopic info <topic_name>

`roservice info<service_name>

further more to check the structure of message you can

rosmsg show <message_name>

hope this help's you.

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answered 2020-10-30 09:13:58 -0500

A map is type nav_msgs OccupancyGrid @ link text

While for tf (assuming "tf2") see tutorials @ link text

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Asked: 2020-07-15 08:44:13 -0500

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Last updated: Oct 30 '20