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Get course from odom data [closed]

asked 2018-11-21 09:00:55 -0600

trishantroy gravatar image

Hey,

I am simulating a Pioneer model. I want to know the current course of the bot i.e the direction of the trajectory. How can I get this data from the odom topic that is being published?

Thanks in advance.

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Closed for the following reason the question is answered, right answer was accepted by trishantroy
close date 2018-11-21 13:08:39.965534

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answered 2018-11-21 13:08:20 -0600

trishantroy gravatar image

Solved. It was a very easy task. I messed up with the order of quaternion angles (sad!).

 pioneer_yaw=180/pi*atan2(2*msg->pose.pose.orientation.z*msg->pose.pose.orientation.w,1-2*msg->pose.pose.orientation.z*msg->pose.pose.orientation.z);

This is for a planar surface.

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Asked: 2018-11-21 09:00:55 -0600

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Last updated: Nov 21 '18