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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.

Values in nav_msgs/Odometry.msg corresponds to orientation I am implementing the sampling algorithm (sample_motion_model

Values in nav_msgs/Odometry.msg corresponds to orientation I am implementing the sampling algorithm (sample_motion_model

I am wanting to extract features from laser data I have acquired using ROS from Pepper in the form of a sensor_msgs/Laserscan.msg.

However I am struggling to understand certain parts of the message.

Firstly, which might be obvious, am I right to assume that I should disregard data which are in not within the range specified by range_min and range_max, in this case, 0.1000000015 and 1.5 metres, respectively?

Also, I am wanting to plot this data, so that I can get a visualization the field of view of the laser (possible wrong terminology). Ie where the laser beams managed to reached in relation to the actual robot.

Clarification on sensor_msgs/Laserscan.msg I am wanting to extract features from laser data I have acquired using ROS fr