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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Output odometry data in file format #49

Closed zainmehdi closed 2 years ago

zainmehdi commented 2 years ago

Hi, I was wondering if its possible to output odometry/graph data in the form of a file very much like g2o etc. I am planning to utilize offline map correction like in this package https://github.com/SMRT-AIST/interactive_slam .

Looking forward to hearing from you

Thanks

eupedrosa commented 2 years ago

Hi @zainmehdi.

I was wondering if its possible to output odometry/graph data in the form of a file very much like g2o etc.

For the slam2d node?

Instead of having an internal method to save the poses and write them later, I could publish the pose of the robot and an external node can save them anyway it wants. This is something that I am more willing to implement (the pose publishing). In fact, the pose publishing is on my TODO list.

zainmehdi commented 2 years ago

Thanks alot @eupedrosa I think that would be really handy.

eupedrosa commented 2 years ago

@zainmehdi, the pose is now publish after an update. I hope you find it helpful.

zainmehdi commented 2 years ago

@eupedrosa thanks alot :)