Thanks Wim,
A bit more research shows that something like below would work since my robot only move along xy plane and rotate around z axis. But I am still totally lost on what cov_x, cov_y and rcov_z really mean and how to compute them. Any suggestion / pointer will be appreciated.
msg.pose.covariance = {cov_x, 0, 0, 0, 0, 0,
0, cov_y, 0, 0, 0, 0,
0, 0, 99999, 0, 0, 0,
0, 0, 0, 99999, 0, 0,
0, 0, 0, 0, 99999, 0,
0, 0, 0, 0, 0, rcov_z}
Best,
-Andy
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