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How to visualize a frame pose as a path

I'd like to generate an image similar to the one at the end of the demo video here: http://www.ros.org/wiki/hector_mapping

In the image, the generated map and the pose of the /base_link frame over time in the /map frame are overlayed. What is the best way to build such an image?

How to visualize a frame pose as a path

I'd like to generate an image similar to the one at the end of the demo video here: http://www.ros.org/wiki/hector_mapping

In the image, the generated map and the pose of the /base_link frame over time in the /map frame are overlayed. What is the best way to build such an image?

How to visualize a frame pose as a path

I'd like to generate an image similar to the one at the end of the demo video here: http://www.ros.org/wiki/hector_mapping

In the image, the generated map and the pose of the /base_link frame over time in the /map frame are overlayed. What is the best way to build such an image?