def get_odom(self): #Get the current transform between the odom and base frames try: (trans, rot) = self.tf_listener.lookupTransform(self.map_frame, self.base_frame, rospy.Time(0)) except (tf.Exception, tf.ConnectivityException, tf.LookupException): rospy.loginfo("TF Exception") return return (Point(*trans), quat_to_angle(Quaternion(*rot)))
def get_odom_angle(self): # Get the current transform between the odom and base frames try: (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0)) except (tf.Exception, tf.ConnectivityException, tf.LookupException): rospy.loginfo("TF Exception") return # Convert the rotation from a quaternion to an Euler angle return quat_to_angle(Quaternion(*rot))