Monitor Location

Map location

The XY location of the platform in the 'map' coordinate frame. These values are relative to the datum coorodinate.

• Topic Name: localization/odom

• Topic Type: nav_msgs/msg/Odometry

• Topic QoS:

Python

import rclpy
from rclpy.node import Node

from nav_msgs.msg import Odometry


class LocalizationOdom(Node):

    def __init__(self):
        super().__init__('localization_odom_sub')
        self.odom_sub = self.create_subscription(
            Odometry, 'localization/odom', self.odom_cb, 10)
        self.odom_sub  # prevent unused variable warning

    def odom_cb(self, msg):
        self.last_odom_msg = msg

if __name__ == '__main__':
    rclpy.init(args=args)
    localization_odom_sub = LocalizationOdom()
    rclpy.spin(localization_odom_sub)
    localization_odom_sub.destroy_node()
    rclpy.shutdown()

C++

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "nav_msgs/msg/odometry.hpp"

class LocalizationOdom : public rclcpp::Node
{
public:
  LocalizationOdom()
  : Node("localization_odom_sub")
  {
    auto odom_cb =
      [this](nav_msgs::msg::Odometry::UniquePtr msg) -> void {
        last_odom_msg_ = msg;
      };

    odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>("localization/odom", 10, odom_cb);
  }

private:
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
  nav_msgs::msg::Odometry::UniquePtr last_odom_msg_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<LocalizationOdom>());
  rclcpp::shutdown();
  return 0;
}

Lat/Lon location

The lat/lon location of the platform.

• Topic Name: localization/fix

• Topic Type: sensor_msgs/msg/NavSatFix

• Topic QoS:

Python

import rclpy
from rclpy.node import Node

from sensor_msgs.msg import NavSatFix


class LocalizationFix(Node):

    def __init__(self):
        super().__init__('localization_fix_sub')
        self.odom_sub = self.create_subscription(
            NavSatFix, 'localization/fix', self.fix_cb, 10)
        self.fix_sub  # prevent unused variable warning

    def fix_cb(self, msg):
        self.last_fix_msg = msg

if __name__ == '__main__':
    rclpy.init(args=args)
    localization_fix_sub = LocalizationFix()
    rclpy.spin(localization_fix_sub)
    localization_fix_sub.destroy_node()
    rclpy.shutdown()

C++

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/nav_sat_fix.hpp"

class LocalizationFix : public rclcpp::Node
{
public:
  LocalizationFix()
  : Node("localization_fix_sub")
  {
    auto odom_cb =
      [this](sensor_msgs::msg::NavSatFix::UniquePtr msg) -> void {
        last_fix_msg_ = msg;
      };

    fix_sub_ = this->create_subscription<sensor_msgs::msg::NavSatFix>("localization/fix", 10, fix_cb);
  }

private:
  rclcpp::Subscription<sensor_msgs::msg::NavSatFIx>::SharedPtr fix_sub_;
  sensor_msgs::msg::NavSatFix::UniquePtr last_fix_msg_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<LocalizationFix>());
  rclcpp::shutdown();
  return 0;
}