Question: What is the argument for choosing the pose interface?

[rokusottervanger]

Elevation mapping now listens to a pose topic with message type geometry_msgs/PoseWithCovarianceStamped. What is the argument for choosing this? Another option would be to enable the user to provide the pose using a nav_msgs/Odometry (maybe as an alternative), as this also contains the pose and covariance. A nice perk of an Odometry interface is easy integration with robot localization.

[draliii]

I haven't found a way to solve this, so I use a node to export PoseWithCovarianceStamped from Odometry. Feel free to use/modify: pose_translator

[rob3a]

Sorry @draliii do you know any translator to get that PoseWithCovarianceStamped from tf because gmapping puts odometry in tf

[maximilianwulf]

Hi @rokusottervanger, at the moment we don't support nav_msgs/Odometry. There is no reason to not use it. If anyone wants to write a feature to support odometry messages feel free to submit a pull request. In the meantime, @draliii's node should do the job.

@rob3a this node will listen to a tf transform and publish it as a PoseWithCovarianceStamped message.