ROS-将PoseWithCovarianceStamped转换成Odometry数据

最新推荐文章于 2025-01-21 10:00:00 发布

原创最新推荐文章于 2025-01-21 10:00:00 发布 · 307 阅读

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#自动驾驶 #自动化 #linux #python #机器人

博客提供了将PoseWithCovarianceStamped转换成Odometry数据的Python代码，涉及自动驾驶、机器人等领域信息技术内容。

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以下为PoseWithCovarianceStamped转换成Odometry数据的python代码。

import rospy
from geometry_msgs.msg import PoseWithCovarianceStamped
from nav_msgs.msg import Odometry

def pose_with_covariance_to_odometry(pose_with_covariance):
    odometry = Odometry()
    
    # Extract pose information
    odometry.header.frame_id="map"
    odometry.child_frame_id="base_link"
    odometry.header.seq=pose_with_covariance.header.seq
    odometry.header.stamp.secs=pose_with_covariance.header.stamp.secs
    odometry.header.stamp.nsecs=pose_with_covariance.header.stamp.nsecs
    odometry.pose.pose = pose_with_covariance.pose.pose
    odometry.pose.covariance = pose_with_covariance.pose.covariance
    
    # You can also set other fields of the Odometry message here
    
    return odometry

def callback(pose_with_covariance):
    odometry = pose_with_covariance_to_odometry(pose_with_covariance)
    
    # Publish the converted odometry message
    odometry_pub.publish(odometry)

rospy.init_node('pose_to_odometry_converter')

# Subscriber to the PoseWithCovarianceStamped topic
rospy.Subscriber('/rtabmap/localization_pose', PoseWithCovarianceStamped, callback)

# Publisher for the converted Odometry message
odometry_pub = rospy.Publisher('/odom_test', Odometry, queue_size=10)

rospy.spin()