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Convert ROS messages to nav_msgs/Path to visualize in Rviz

  • /tf message to nav_msgs/Path
  • geometry_msgs/PoseStamped message to nav_msgs/Path
  • gazebo_msgs/ModelStates message to nav_msgs/Path
  • nav_msgs/Odometry message to nav_msgs/Path



Execution

  • simply run
  $ roslaunch tf_to_trajectory tf_to_path.launch
  $ roslaunch tf_to_trajectory posestamped_to_path.launch
  $ roslaunch tf_to_trajectory gazebo_gt_to_path.launch
  $ roslaunch tf_to_trajectory odom_to_path.launch
  • Edit parent frame id, child frame id, and topic name in launch files