`/pose`#

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/pose Quick Facts

Category: 🧭 Navigation
Message type: geometry_msgs/msg/PoseWithCovarianceStamped
Direction: ➡️ you normally subscribe to this topic.

Pose of the base_frame in the configured map_frame along with the covariance calculated from the scan match estimated by slam_toolbox_sync

Quick snippets#

Check the publication rate#

$ ros2 topic hz /pose

Display the data published on the topic#

$ ros2 topic echo /pose

How to use in your code#

Subscribe to the topic using Python#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from geometry_msgs.msg import PoseWithCovarianceStamped


class PoseSubscriber(Node):

    def __init__(self):
        super().__init__('pose_subscriber')
        self.subscription = self.create_subscription(
            PoseWithCovarianceStamped,
            '/pose',
            self.listener_callback,
            10)

    def listener_callback(self, msg):
        # see https://docs.ros2.org/latest/api/geometry_msgs/msg/PoseWithCovarianceStamped.html
        # for the msg structure
        self.get_logger().info('I heard: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    subscriber = PoseSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Subscribe to the topic using C++#

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"

using std::placeholders::_1;
using namespace rclcpp;

class PoseSubscriber : public rclcpp::Node
{
public:
    PoseSubscriber()
    : Node("pose_subscriber")
    {
    subscription_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
            "/pose",
            10,
            std::bind(&PoseSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) const
    {
    // see https://docs.ros2.org/latest/api/geometry_msgs/msg/PoseWithCovarianceStamped.html
    // for the msg structure
    RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
    }

    Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<PoseSubscriber>());
shutdown();
return 0;
}

/pose#

Quick snippets#

How to use in your code#

`/pose`#