odom_to_trajectory

A ROS Package that subscribes to odometry values and publishes trajectories. This package will append the odometry values generated over time into vector of values.

Nodes

The package contains two nodes

1. path_odom_plotter: Subscribes to 2D unfiltered odometry, appends the robot last 1000 poses, and publishes the robot unfiltered trajectory.
   • Script File: path_odom_plotter.py
   • Subscriber: "/odom"
   • Publisher: "/odompath"
2. path_ekf_plotter: Subscribes to 3D filtered odometry, appends the robot last 1000 poses, and publishes the robot filtered trajectory.
   • Script File: path_ekf_plotter.py
   • Subscriber: "/robot_pose_ekf/odom_combined"
   • Publisher: "/ekfpath"

Steps to launch the nodes

Step1: Install the package

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/udacity/odom_to_trajectory

Step2: Build the package

$ cd /home/workspace/catkin_ws
$ catkin_make
$ source devel/setup.bash

Step3: Launch the nodes

$ roslaunch odom_to_trajectory create_trajectory.launch