Pose Listener

The pose_listener package allows you to read a ROS topic and saves poses to a file. Poses are stored in TUM format, but code is straightforward and it is easily extensible to other formats. It currently supports:

• nav_msgs::Odometry
• geometry_msgs::PoseStamped
• geometry_msgs::PoseWithCovarianceStamped
• sensor_msgs::Imu (orientation only)

Dependencies

• ROS

Build

Clone this repository to your workspace and catkin_make it.

Usage

Run:

rosrun pose_listener pose_listener _topic:=<TOPIC_NAME> _type:=<TOPIC_TYPE> [_output_file:=<PATH_TO_FILE>]

where

• TOPIC_NAME is the name of the topic, e.g. /firefly_sbx/vio/odom. Run rostopic list to print a list of topic names.
• TOPIC_TYPE is the type of the topic. It must be one of the following values:
  • O if the type is nav_msgs::Odometry
  • PS if the type is geometry_msgs::PoseStamped
  • PCS if the type is geometry_msgs::PoseWithCovarianceStamped
  • I if the type is sensor_msgs::Imu (orientation only)
• PATH_TO_FILE is a path to the output file. _output_file is an optional argument. Default value: trajectory.txt

TODO

• The type of the topic should be queried in runtime.
• Path of the output file should be taken as a command line parameter.
• Support KITTI formats (and many others)
• Support different ROS msgs.