Read ground truth from simulation

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

Hi all, I am trying to use Sphinx and Bebop_autonomy for simulation. I am wondering that it is possible to read ground truth of odometry as a ros topic?

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Hi,

Telemetry data is logged via telemetryd, a process that runs in the background when sphinx gets started. You can query its data with tlm-data-logger:

tlm-data-logger inet:127.0.0.1:9060 | grep niscient_bebop2.worldPosition.x

I guess you can redirect this data into a rostopic with a piped input:

tlm-data-logger inet:127.0.0.1:9060 | awk -F"[ ',]+" '/omniscient_bebop2.worldPosition.x:/{print $2}' | rostopic pub  std_msgs/Float32
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Thanks! It works as what I want!