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Extracting Odometry data #51

Closed BW25 closed 4 years ago

BW25 commented 5 years ago

I am interested in extracting the odometry data as XYZ translation and quaternions to obtain the trajectory travelled by my sensor. I have found that the following topics publish topics of type geometry_msgs/PoseStamped, which seems to have the data I need.

However, there are 2 odometry topics that use this data type: /blam/blam_slam/odometry_incremental_estimate /blam/blam_slam/odometry_integrated_estimate

What is the difference between these two topics, and which topic should I look to to obtain the odometry data?

Thank you.

BW25 commented 5 years ago

I believe that integrated odometry would be the overall change in translation and rotation, and incremental odometry is the change compared to the previous point in time. Is this correct?

BW25 commented 4 years ago

I believe I have confirmed that this is the case.