How to get PoseWithCovarianceStamped from a tf???

[anybotics]

How to get PoseWithCovarianceStamped from a tf???

[aybakana]

The script below listens tf and publishes posewithcovariancestamped

ground_truth_pose_publisher.py

[reinzor]

The idea of the fuse step in the map update method is that it takes the covariances of the measurements into account and fuses this to a coherent map. You could just manually add a covariance matrix based on some gaussian noise that describes the pose uncertainty of your robot.

[TT22TY]

The script below listens tf and publishes posewithcovariancestamped

ground_truth_pose_publisher.py

@aybakana ，hello, the script you provide does not exist, could you please share it again, thank you very much~

[maximilianwulf]

Hi @TT22TY,

tf_to_pose_publisher.py in the demo package should do the same.