Hi,<div><br></div><div>I am trying to create a nav_msgs/Odometry publisher, to be used by the robot_pose_ekf  node.  My robot only give me 3 numbers: x,y and theta while the nav_msgs/Odometry message needs covariance and many other data.</div>
<div><br>My question is what variables correspond to the covariance matrices in nav_msgs/Odometry? how should I go about calculating the matrices from what I have. Any pointer to more reading materials would be appreciated.</div>
<div><br></div><div>Thanks,</div><meta http-equiv="content-type" content="text/html; charset=utf-8"><meta http-equiv="content-type" content="text/html; charset=utf-8"><meta http-equiv="content-type" content="text/html; charset=utf-8"><div>
<br clear="all">-Andy<br>
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