search

ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.31k stars 445 forks source link

how to get the /pose? #211

Open DLonng opened 2 years ago

DLonng commented 2 years ago

Hi, thanks elevation_mapping!

I want to know how to get the covariance of the /pose, i use the lio-sam.

/pose: geometry_msgs/PoseWithCovarianceStamped

bestavra commented 1 year ago

@DLonng Hi, in tf_to_pose_publisher.py from elevation_mapping_demos use odom or map --> base_link frames to publish a transform. You can find an example in turtlesim3_waffle_demo.launch in elevation_mapping_demos. Hope you find this useful.