First version rtabmap_launch working

rtabmap_legacy/launch/jfr2018/pose_to_odom.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import PoseWithCovarianceStamped
+from nav_msgs.msg import Odometry
+
+def callback(data):
+    odom = Odometry()
+    odom.header = data.header
+    odom.child_frame_id = child_frame_id
+    odom.pose = data.pose
+    pub.publish(odom)
+
+if __name__ == '__main__':
+    rospy.init_node('pose_to_odom', anonymous=True)
+    pub = rospy.Publisher('odom_combined', Odometry, queue_size=1)
+    child_frame_id = rospy.get_param('~child_frame_id', "base_footprint")
+    rospy.Subscriber("/robot_pose_ekf/odom_combined", PoseWithCovarianceStamped, callback)
+    rospy.spin()