how to solve timing problem with laser scan (synchronizing with odometry) in MATLAB with bag file

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hello guys, I want to simulate the bag data that I got from ROS in MATLAB and I wrote a script to plot the laser data and build a map (I assumed that my poses are correct). my problem is related to synchronization and I match the wrong pose to the scan data. after some research I found that I should use the \tf data but I dont know how to use them. do you have any idea how to get the robot pose at the time of sensor reading?

Answers (1)

MathWorks Robotics and Autonomous Systems Team
We have a functionality in "getTransform/ transform/ canTransform" methods:
http://www.mathworks.com/help/robotics/ref/transform.html#bvcile2 --> learn more about time travel using getTransform which interpolates.

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