Method __init__

scripts/gt_logger_node.py:12–19

(self)

# TODO(marcus): add support for choosing EuRoC standard or SWE format.
class GTLoggerNode:
    def __init__(self):
        self.gt_topic = rospy.get_param("~gt_topic")
        self.output_dir = rospy.get_param("~output_dir")
        self.output_csv_file = os.path.join(self.output_dir, "output_gt_poses.csv")

        # rospy.Subscriber(self.gt_topic, TransformStamped, self.gt_cb_tsf)
        rospy.Subscriber(self.gt_topic, Odometry, self.gt_cb_odom, queue_size=20)
        self.setup_gt_file()

    def gt_cb_tfs(self, msg):
        """ Callback for ground-truth poses as they come in as TransformStamped