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))