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Use SDK for for costmap and posewithcovariancestamped #50

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Use SDK for for costmap and posewithcovariancestamped #50

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17 changes: 2 additions & 15 deletions formant_ros2_adapter/scripts/components/subscriber/localization_subscriber_coodinator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ def _odom_callback(self, msg):
if msg_type == Odometry:
odometry = FOdometry.from_ros(msg)
elif msg_type == PoseWithCovarianceStamped:
odometry = FOdometry(pose=FTransform.from_ros_pose(msg.pose.pose))
odometry = FOdometry.from_pose_with_covariance_stamped(msg)
else:
self._logger.warn("Unknown odom type: %s" % msg_type)
return
Expand All @@ -183,20 +183,7 @@ def _map_callback(self, msg):
if msg_type is OccupancyGrid:
formant_map = FMap.from_ros(msg)
elif Costmap is not None and msg_type is Costmap:
# ROS types
ros_resolution = msg.metadata.resolution
ros_width = msg.metadata.size_x
ros_height = msg.metadata.size_y
ros_origin = msg.metadata.origin

# Formant types
formant_map = FMap(
resolution=ros_resolution,
width=ros_width,
height=ros_height,
origin=FTransform.from_ros_pose(ros_origin),
occupancy_grid_data=msg.data,
)
formant_map = FMap.from_costmap(msg)
else:
self._logger.warn("Unknown map type %s" % msg_type)
return
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