PoseStamped message

[subutayebru]

Hi! I am trying to publish geometry_msgs/PoseStamped from T265. I can see the topic that i declared /camera/pose/sample published yet, no message is being echoed. All the changes I made are in the following link.

I am using ros1-legacy branch since I am working on ROS1 noetic.
Librealsense version: 2.50.0

https://github.com/subutayebru/realsense-ros/tree/ros1-legacy/realsense2_camera

I mostly made changes to base_realsense_node.cpp and its header in include folder.

        geometry_msgs::PoseStamped pose_msg;
        pose_msg.pose.position.x = -pose.translation.z;
        printf(pose_msg.pose.position.x)
        pose_msg.pose.position.y = -pose.translation.x;
        pose_msg.pose.position.z =  pose.translation.y;
        pose_msg.pose.orientation.x = -pose.rotation.z;
        pose_msg.pose.orientation.y = -pose.rotation.x;
        pose_msg.pose.orientation.z =  pose.rotation.y;
        pose_msg.pose.orientation.w =  pose.rotation.w;
        
        pose_msg.header.stamp = t;
        pose_msg.header.frame_id = _odom_frame_id;
        pose_msg.pose = _odom_msgs.pose.pose
        _pose_stamped_pub.publish(pose_msg);
        
        ROS_DEBUG("Published PoseStamped message on /camera/pose/sample");

And in the header I am declaring _pose_stamped_pub in public.

ros::Publisher _pose_stamped_pub;

I am gettting this error when catkin building the package.

/home/sherec/bru_ws/src/realsense-ros/realsense2_camera/src/t265_realsense_node.cpp:15:5: error: ‘_pose_stamped_pub’ was not declared in this scope 15 | _pose_stamped_pub = _node_handle.advertise<geometry_msgs::PoseStamped>("/camera/pose/sample", 100); | ^~~~~~~~~~~~~~~~~ /home/sherec/bru_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::setupPublishers()’: /home/sherec/bru_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1034:9: error: ‘_pose_stamped_pub’ was not declared in this scope 1034 | _pose_stamped_pub = _node_handle.advertise<geometry_msgs::PoseStamped>("/camera/pose/sample", 10); | ^~~~~~~~~~~~~~~~~ /home/sherec/bru_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::pose_callback(rs2::frame)’: /home/sherec/bru_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1577:9: error: ‘_pose_stamped_pub’ was not declared in this scope 1577 | if (_pose_stamped_pub) | ^~~~~~~~~~~~~~~~~ make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:104: CMakeFiles/realsense2_camera.dir/src/t265_realsense_node.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:90: CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:2859: CMakeFiles/realsense2_camera.dir/all] Error 2 make: *** [Makefile:146: all] Error 2 cd /home/sherec/bru_ws/build/realsense2_camera; catkin build --get-env realsense2_camera | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
Any help is appreciated!! Thanks!!