Shiryu NAKANO

Odom msgからPoseだけ取り出すことができる#

Raw Message Definition

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

ちなみに、geometry_msgs/PoseWithCovariance poseは、 Pose型と、その共分散行列（不確かさ？）を含んでいる。

# This represents a pose in free space with uncertainty.
Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

c.f. geometry_msgs/PoseWithCovariance Documentation

msg/Pose Documentation

Raw Message Definition

# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation