visual_odometry_transform Namespace Reference

Functions
def	odomCallback (odom_msg)

Variables
	child_frame_id
	frame_id
	listener = tf.TransformListener()
	odom = Odometry()
	odom_original = Odometry()
	odom_rw = odom_original.pose.pose.orientation.w
	odom_rx = odom_original.pose.pose.orientation.x
	odom_ry = odom_original.pose.pose.orientation.y
	odom_rz = odom_original.pose.pose.orientation.z
	odom_x = odom_original.pose.pose.position.x
	odom_y = odom_original.pose.pose.position.y
	odom_z = odom_original.pose.pose.position.z
	pose
	quat = quaternion_from_matrix(R_F)
	R_F = R_I.dot(R_L)
	R_I = quaternion_matrix([odom_rx, odom_ry, odom_rz, odom_rw])
	R_L = quaternion_matrix([rot[0],rot[1],rot[2],rot[3]])
	rate = rospy.Rate(10.0)
	rot
	rtabmap_odom_pub = rospy.Publisher(rtabmap_odom_topic, Odometry, queue_size=1)
string	rtabmap_odom_topic = "/rtabmap/odom"
string	rtabmap_original_odom_topic = "/rtabmap/ugv_odom"
string	source_frame_id = "/ugv_odom"
	stamp
string	target_frame_id = "/ugv_base_link"
	trans

Function Documentation

def visual_odometry_transform.odomCallback

(

odom_msg

)

Definition at line 22 of file visual_odometry_transform.py.

Variable Documentation

visual_odometry_transform.child_frame_id

Definition at line 78 of file visual_odometry_transform.py.

visual_odometry_transform.frame_id

Definition at line 77 of file visual_odometry_transform.py.

visual_odometry_transform.listener = tf.TransformListener()

Definition at line 31 of file visual_odometry_transform.py.

visual_odometry_transform.odom = Odometry()

Definition at line 19 of file visual_odometry_transform.py.

visual_odometry_transform.odom_original = Odometry()

Definition at line 20 of file visual_odometry_transform.py.

visual_odometry_transform.odom_rw = odom_original.pose.pose.orientation.w

Definition at line 55 of file visual_odometry_transform.py.

visual_odometry_transform.odom_rx = odom_original.pose.pose.orientation.x

Definition at line 52 of file visual_odometry_transform.py.

visual_odometry_transform.odom_ry = odom_original.pose.pose.orientation.y

Definition at line 53 of file visual_odometry_transform.py.

visual_odometry_transform.odom_rz = odom_original.pose.pose.orientation.z

Definition at line 54 of file visual_odometry_transform.py.

visual_odometry_transform.odom_x = odom_original.pose.pose.position.x

Definition at line 49 of file visual_odometry_transform.py.

visual_odometry_transform.odom_y = odom_original.pose.pose.position.y

Definition at line 50 of file visual_odometry_transform.py.

visual_odometry_transform.odom_z = odom_original.pose.pose.position.z

Definition at line 51 of file visual_odometry_transform.py.

visual_odometry_transform.pose

Definition at line 79 of file visual_odometry_transform.py.

visual_odometry_transform.quat = quaternion_from_matrix(R_F)

Definition at line 73 of file visual_odometry_transform.py.

visual_odometry_transform.R_F = R_I.dot(R_L)

Definition at line 71 of file visual_odometry_transform.py.

visual_odometry_transform.R_I = quaternion_matrix([odom_rx, odom_ry, odom_rz, odom_rw])

Definition at line 65 of file visual_odometry_transform.py.

visual_odometry_transform.R_L = quaternion_matrix([rot[0],rot[1],rot[2],rot[3]])

Definition at line 58 of file visual_odometry_transform.py.

visual_odometry_transform.rate = rospy.Rate(10.0)

Definition at line 41 of file visual_odometry_transform.py.

visual_odometry_transform.rot

Definition at line 44 of file visual_odometry_transform.py.

visual_odometry_transform.rtabmap_odom_pub = rospy.Publisher(rtabmap_odom_topic, Odometry, queue_size=1)

Definition at line 34 of file visual_odometry_transform.py.

string visual_odometry_transform.rtabmap_odom_topic = "/rtabmap/odom"

Definition at line 13 of file visual_odometry_transform.py.

string visual_odometry_transform.rtabmap_original_odom_topic = "/rtabmap/ugv_odom"

Definition at line 11 of file visual_odometry_transform.py.

string visual_odometry_transform.source_frame_id = "/ugv_odom"

Definition at line 16 of file visual_odometry_transform.py.

visual_odometry_transform.stamp

Definition at line 76 of file visual_odometry_transform.py.

string visual_odometry_transform.target_frame_id = "/ugv_base_link"

Definition at line 15 of file visual_odometry_transform.py.

visual_odometry_transform.trans

Definition at line 44 of file visual_odometry_transform.py.