def receive_odometry(self, odometry):
if 'base_link' in self.listener.getFrameStrings():
local_pose = utils.transform_pose(self.listener, 'odom',
'base_link', odometry.pose.pose)
utils.publish_data_dictionary(self._pub_pose, utils.get_axes(),
utils.parse_pose(local_pose))
local_twist = utils.transform_twist(self.listener, 'odom',
'base_link',
odometry.twist.twist)
utils.publish_data_dictionary(self._pub_twist, utils.get_axes(),
utils.parse_twist(local_twist))
local_state = Odometry()
local_state.header.frame_id = 'base_link'
local_state.pose.pose = local_pose
local_state.twist.twist = local_twist
self._pub_local_state.publish(local_state)
def receive_odometry(self, odometry):
pose = utils.parse_pose(odometry.pose.pose)
utils.publish_data_dictionary(self._pub_pose, utils.get_axes(), pose)
twist = utils.parse_twist(odometry.twist.twist)
utils.publish_data_dictionary(self._pub_twist, utils.get_axes(), twist)
def _on_pose_received(self, pose):
self.pose = utils.parse_pose(pose)
def _on_pose_received(self, pose):
self.pose = utils.parse_pose(
utils.transform_pose(self.listener, 'odom', 'base_link', pose))