how to get the /pose?

[DLonng]

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]

@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.