Is it possible to subscribe to poses computed by cartographer?

edit

Thanks for the help. I've changed the .lua file as suggested and created this code to get the transform (where frame is map and required_position is odom):

def get_map_pose(frame, required_position):
    tf_buffer = tf2_ros.Buffer()
    tf2_ros.TransformListener(tf_buffer)
    while not rospy.is_shutdown():
        try:
            transform = tf_buffer.lookup_transform(frame, required_position, rospy.Time(0), rospy.Duration(5.0))
            self.pose.position = transform.transform.translation
            self.pose.orientation = transform.transform.rotation

Is this the way you are suggesting to get the robot position within the map frame?

This goes in the right direction but isn't really what i meant. I meant you should transform your odometry message in to the map frame not looking up the transform between the two frames.

If you want to use a transform listener, please look up the transformation between map and your base_link frame (If you get the negative position you might need to exchange the two frames in the look up transform).

If that doesn't give the wanted results i'll kindly ask you to supply a picture of your tf-tree so i know what is going on and how your system is structured. All of my answers are guesses since i don't really know anything about your system other than that you are using cartographer to build a map

Btw i don't understand why my answer was flagged as offensive. I am trying to help someone and provide objective information. It is neither Spam, advertising nor malicious text.

Hope that was by mistake...

Thanks for the help! No idea why anyone would flag as offensive..... it's been very helpful to me at least :)

No worries it disappeared fairly quickly after my comment. Probably someone clicked on it by mistake. Have you managed to get your pose yet?

I have through the code I shared but it keeps giving me a TF_REPEATED_DATA warning so I'm suspicious of it and keen to understand your method. How would you go about transforming the odometry message to the map frame? Could you share a code snippet?

I write everything in c++ so i don't know about python, but this post seems promising.

But i'd still like to know more about your robot. Do you have an odometry source like encoders?

Yes I do have an odometry source. So from the post you linked, are you suggesting that my function ought to be:

def get_map_pose(self, frame, required_position):
    tf_buffer = tf2_ros.Buffer()
    tf2_ros.TransformListener(tf_buffer)
    while not rospy.is_shutdown():
        try:
            transform = tf_buffer.lookup_transform(frame, required_position, rospy.Time(0), rospy.Duration(5))
            pose_transformed = tf2_geometry_msgs.do_transform_pose(self.pose, transform)
            return pose_transformed
        except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as error:
            print(error)
        continue

From this, I get the error AttributeError: 'Pose' object has no attribute 'pose'. Any ideas why?