ellensohn/cps_rmp220_support
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Your Name 2025-01-15 09:22:19 +01:00
parent 91c376089f
commit d449eacee0
1 changed files with 14 additions and 0 deletions
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14
nodes/odom_publisher_linus.py
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@ -25,6 +25,20 @@ def odom_callback(msg):
# Publish the transform # Publish the transform
tf_broadcaster.sendTransform(odom_trans) tf_broadcaster.sendTransform(odom_trans)
# print debug info
rospy.loginfo("Position: x={}, y={}, z={}".format(
msg.pose.pose.position.x,
msg.pose.pose.position.y,
msg.pose.pose.position.z
))
rospy.loginfo("Orientation: x={}, y={}, z={}, w={}".format(
msg.pose.pose.orientation.x,
msg.pose.pose.orientation.y,
msg.pose.pose.orientation.z,
msg.pose.pose.orientation.w
))
if __name__ == "__main__": if __name__ == "__main__":
rospy.init_node("tf2_broadcaster") rospy.init_node("tf2_broadcaster")