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To the best of my knowledge there is no such tool for automated merging of messages. As in your case a fair amount of additional information would need to be filled (i.e. covariances) your best bet is writing a small node yourself. You could also consider creating a custom message that contains all the data you need in compressed/minimal form (i.e. only transmit yaw angle and x,y etc.). I've taken a similar approach (albeit in the PC -> Arduino direction) for transmitting motion commands: DiffDriveCommand is the minimal pwm message sent over rosserial and the translator node takes care of translating ROS commands (joystick or Twist) to the minimal representation.