pretty much, here's a code that compiles
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
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);
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "stuff");
ros::NodeHandle nh_("~");
ros::Subscriber sub_image_ = nh_.subscribe<nav_msgs::Odometry>("/base_pose_ground_truth", 1, &odomCB);
ros::spin();
}
Is there any way to subscribe to the pose of the base of a simulated PR2 robot? Ideally it should look something like this:ros::Subscriber sub_odom = n.subscribe("base_pose_ground_truth", 100, recordOdom);//callback to store 0dometry datavoid recordOdom(const nav_msgs::Odometry::ConstPtr& data){xPos=data->pose.pose.position.x;yPos=data->pose.pose.position.y;//get Quaternion anglular informationdouble x=data->pose.pose.orientation.x;double y=data->pose.pose.orientation.y;double z=data->pose.pose.orientation.z;double w=data->pose.pose.orientation.w;//convert to pitchangle=atan2(2*(y*x+w*z),w*w+x*x-y*y-z*z);}The bottom line is, I would like to keep track of the angle of the PR2 robot base over time, but I cannot figure out how to subscribe to the pose. Any ideas?Thanks,--
Sebastian Castro
Mechanical & Aerospace Engineering
Cornell University, Class of 2010
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