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2011-06-26 05:13:16 -0500	marked best answer	[gmapping] get current robot-position? You just need one TransformListener and listen for the /map -> /base_link transform. The transform listener will take the gmapping and odometry transforms and build the correct one from that automatically.
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2011-06-19 03:38:38 -0500	asked a question	[gmapping] get current robot-position? Hi folks! Rosaria provides me with odometry, which is then given to gmapping and (along with some laser-sensordata) processed. As the robot moves in the world this creates a map of its environment. Now I wish to get the current position of my robot but can't quite figure out how. My understanding is as follows: I need - a TransformListener from gmapping to be able to transform odometry into world-coordinates. - a Subscriber to get the odometry in the first place. Since both need to be handled with callbacks I need to use gobal variables to get information from one to the other. This in turn makes it necessary to think about synchronization and race-conditions. Is this really the proper way to do it / do I have an error in my understanding? If so, how do i go about solving the race-condition problem?