robot_localization package with custom sensor message

edit

thanks for your answer. I thought of going with your first option. But i don't know how to convert message types. Can you suggest something on how to do that or is there some tutorial that i can follow to do so.

@enthusiast.australia: please stop deleting questions that have received answers.

It's rather rude to delete a question after another forum member has gone through the trouble of reading your question, thinking about it and providing you with a possible solution.

If an answer was satisfactory, please tick the checkmark to the left of the answer to mark it as accepted. If an answer didn't actually answer your question, then interact with the poster to keep figuring things out.

I've undeleted all of your questions that received answers.

Please don't do it again.

I am sorry, i didn't think that way. I will not delete any in future. Thanks for informing me

@enthusiast.australia you can easily convert messages in C++ or python. Its just an object like any other object. If you aren't familiar with ROS messages, just look at the basic tutorial pub/sub in your language of choice for reference.

Now what i am doing is, running the code to get the data from sensor, compute x and y, and then store this in .txt file. The data is like

1.25855856 1.25258946

1.25878878 1.47885488

and so on.

Now i want to publish this data in such a way that i could use it robot_localization package. My code is "

#!/usr/bin/env python

# license removed for brevity

import rospy

from std_msgs.msg import Float64

def talker():

   pub = rospy.Publisher('chatter', Float64, queue_size=10)

   rospy.init_node('talker', anonymous=True)

   rate = rospy.Rate(10) # 10hz

  while not rospy.is_shutdown():

       f= open("myfile.txt" ,"r")

       pub.publish(f.readlines())

       rate.sleep()

if __name__ == '__main__':

   try:

       talker()

   except rospy.ROSInterruptException:

       pass

"

How should i modify this to get it publishing the data and use this in robot_localization?

If you're uncertain how to use OOP, please file another ticket or see the ros tutorials