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How to "Rostopic echo" only the pose in the 'odom' topic

asked 2013-02-10 22:40:32 -0500

Evis gravatar image

I'm a beginner in ROS, and as such I'm struggling with an apparently simple question. I'm using Turtlbot in Gazebo and would like to print in a text file the pose of the robot during its path. What I do now is to "echo" the /odom topic and there I can see the pose. However, it prints a lot of other information I do not need. How can I somehow filter it, to only print the pose of the robot (x, y, z) during the robot's path.

Thank you in advance for considering this.

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answered 2013-02-10 23:23:28 -0500

Use slash / for name resolution, i.e. to go deeper into the objects and structures.

In your case it should be something like:

$ rostopic echo /odom/pose/pose/position

It should return x, y and z all of type float64.

That is because Odometry message has field pose which is of type geometry_msgs/PoseWithCovariance, which has another pose of type geometry_msgs/Pose and then there are two fields -- position and orientation.

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My typing took too long, didn't see the previous answer.

Boris gravatar image Boris  ( 2013-02-10 23:26:36 -0500 )edit

Thanks, but what about when there is an array structure in the middle, how to go deeper ? I posted my question here :

Cyril_J gravatar image Cyril_J  ( 2015-11-10 10:04:11 -0500 )edit

answered 2013-02-10 23:14:38 -0500

dornhege gravatar image

Just try rostopic echo /odom/pose.

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answered 2013-02-10 23:40:37 -0500

Evis gravatar image

Thanks a lot guys, that was it! :)

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Asked: 2013-02-10 22:40:32 -0500

Seen: 6,318 times

Last updated: Feb 10 '13