Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I don't have a turtlebot, but some node should be publishing nav_msgs/Odometry, probably as an /odom or /odom_combined topic.

The orientation field in that message contains a quaternion indicating your robot's 3-dimensional orientation. Converting that to a yaw angle should give your 2-dimensional heading, if that is what you want.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.