visual_odometry_transform.py File Reference

Go to the source code of this file.

Namespaces
	visual_odometry_transform

Functions
def	visual_odometry_transform.odomCallback (odom_msg)

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