how to get turtlebot pose

asked 2015-09-08 03:09:03 -0600

baowei lin
16 ●1 ●1 ●1

updated 2015-09-09 01:51:34 -0600

I would like to get turtlebot poses when it walking. The following codes are used, but there is no responds. I guess it was the problem of topic "/odom". could anybody give me some ideas to fix it? thanks.

virtual void onInit()
{
      ros::NodeHandle& nh = getNodeHandle();
      ros::NodeHandle& private_nh = getPrivateNodeHandle();           
      cmdpub_ = private_nh.advertise<geometry_msgs::Twist> ("cmd_vel", 1);
      sub_= nh.subscribe<PointCloud>("depth/points", 1, &TurtlebotFollower::cloudcb, this);
      ros::Subscriber sub  = nh.subscribe("/odom",10, &TurtlebotFollower::poseCallback,this);
}

void poseCallback(const geometry_msgs::TwistPtr& msg){
      std::cout << msg.linear.x << "\t" <<msg.linear.y<< "\t" << 0.0 << "\t" << std::endl;
}

I found that if I put above codes into the onInit() virtual function, it will be failed. But if I put it in an main() function, it will be succeed. What is the difference?

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Did your poseCallback work even if the message type is geometry_msgs::Twist? You are trying to use nodelets. You have to run them differently. Please follow the link to learn about running nodelets.

Willson Amalraj ( 2015-09-09 02:56:15 -0600 )edit

sorry, the "succeed" means that I've changed them to nav_msgs. I will check nodelets, thank you Willson.

baowei lin ( 2015-09-09 07:10:34 -0600 )edit

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answered 2015-09-09 19:34:45 -0600

baowei lin
16 ●1 ●1 ●1

I fixed the problem by changing getNodeHandle() to getMTNodeHandle(), which means if you want to subscribe multiple topics, you need a multiple thread callback queue. Thank you Willson again.

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answered 2015-09-08 04:15:55 -0600

Willson Amalraj

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updated 2015-09-08 04:17:06 -0600

Check the type of "/odom" topic. Use rostopic type /odom. I donot have access to my turtlebot at present. But if I am not wrong, /odom topic is of type nav_msgs/Odometry.

Try the following

void poseCallback(const nav_msgs::OdometryConstPtr& msg){  std::cout << msg->pose.pose.position.x << std::endl }

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Thank you Willson, but I failed based on your code. It seems that poseCallback could not be called. Do I need to configure anywhere else?

baowei lin ( 2015-09-08 19:15:17 -0600 )edit

I cannot comment on that without seeing your TutlebotFollower class. May be you comment out all other subscribers and publishers to check if poseCallback works. (on a side note, instead of using two callbacks you can use message_filters to send messages from two topics to the same callback)

Willson Amalraj ( 2015-09-08 20:23:35 -0600 )edit

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