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http://ros-users.122217.n3.nabble.com/Subscribing-to-PR2-Base-Odometry-td689732.html

ROS-Users - Subscribing to PR2 Base Odometry

pretty much, here's a code that compiles #include #include void odomCB(const nav_msgs::Odometry::ConstPtr& msg) { double xPos=msg->pose.pose.position.x; double yPos=msg->pose.pose.position.y; //get Quaternion anglular information double x=msg->pose.pose.orientation.x; double y=msg->pose.pose.orientation.y; double z=msg->pose.pose.orientation.z; double w=msg->pose.pose.orientation.w; //convert to pitch double angle=atan2(2*(y*x+w*z),w*w+x*x-y*y-z*z); ROS_ERROR("%f %f %f",xPos,yPos,angle); }; On Wed, Mar 31, 2010 at 5:40 PM, Sebastian Castro < [hidden email] > wrote: Is there any way to subscribe to the pose of the base of a simulated PR2 robot?
http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map Description: This tutorial describes how to use the TurtleBot with a previously known map.

turtlebot_navigation/Tutorials/Autonomously navigate in a known map

http://www.ros.org/wiki/rgbdslam Documentation Status

rgbdslam