07. Odometry to Trajectory Package

Install the package:

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/udacity/odom_to_trajectory

Build the package:

$ cd /home/workspace/catkin_ws
$ catkin_make
$ source devel/setup.bash

Launch the nodes:

$ roslaunch odom_to_trajectory create_trajectory.launch 

Now that you’ve launched the nodes, open a new terminal and run the rqt graph. In the active nodes and topics, you’ll now see the estimated 3D pose since one of the nodes in the odom to trajectory package is subscribing to it. You’ll also notice that the trajectories are still invisible since we are not yet subscribed to them!

Visualize the topics:

$ rosrun rqt_graph rqt_graph