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