[ros-users] Subscribing to PR2 Base Odometry

[Sebastian Castro]

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 data
void recordOdom(const nav_msgs::Odometry::ConstPtr& data){
    xPos=data->pose.pose.position.x;
    yPos=data->pose.pose.position.y;
    //get Quaternion anglular information
    double 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 pitch
    angle=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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