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Values in nav_msgs/Odometry.msg corresponds to orientation

I am implementing the sampling algorithm (sample_motion_model_odometry) from Thrun's Probabilisitic Robotics book p. 136, which samples the current pose of a robot using odometry information.

I am wanting to test my implementation, and have access to a rosbag which has nav_msgs/Odometry.msg. However I am struggling to identify which column in this message would correspond to the odometry frame orientation theta. Any help in the matter would be much appreciated.