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Sorry for the noob question but im kind of lost and confused. When i have a robot, pioneer 3dx, and im using navigation and gmapping to make it navigate a environment, when i want to know where am i or my position and orientation how can i accomplish this? I am confused to which topic gives me this information, and also how can i obtain that information. I really appreciate some help thanks


Originally posted by ctguell on ROS Answers with karma: 63 on 2013-12-05

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If the robot is using a standard setup, the robot's location is defined to some/multiple frames. It's position in the map is usually given by the /map -> /base_link tf transform.


Originally posted by dornhege with karma: 31395 on 2013-12-06

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Original comments

Comment by ctguell on 2013-12-12:
@dornhege How can i subscribe to this topic??

Comment by dornhege on 2013-12-12:
Use a TFListener. Check out the tf tutorials for an example.

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