A ROS Package that subscribes to odometry values and publishes trajectories. This package will append the odometry values generated over time into vector of values.
The package contains two nodes
- path_odom_plotter: Subscribes to 2D unfiltered odometry, appends the robot last 1000 poses, and publishes the robot unfiltered trajectory.
- Script File: path_odom_plotter.py
- Subscriber: "/odom"
- Publisher: "/odompath"
- path_ekf_plotter: Subscribes to 3D filtered odometry, appends the robot last 1000 poses, and publishes the robot filtered trajectory.
- Script File: path_ekf_plotter.py
- Subscriber: "/robot_pose_ekf/odom_combined"
- Publisher: "/ekfpath"
$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/udacity/odom_to_trajectory
$ cd /home/workspace/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch odom_to_trajectory create_trajectory.launch