How to print the x,y,z,rpy values onto a text file?

[Raksha]

[matlabbe]

Do File -> Export poses... Choose TORO or g2o format to get the links.

cheers,
Mathieu

[Raksha]

Hello Mathieu,

I am using the demo rosbag(section 3.1) from http://wiki.ros.org/rtabmap_ros. There is no availability of export poses option in the file menu. I am unable to use the other options like export 3D clouds, export 2D scans and export 2D grid map as well. Please help!

Thanks,
Raksha

[matlabbe]

Which ROS version are you on? If options are grey-out, press "Pause" to enable them.

[Raksha]

I am using ROS Indigo. I would like to do the following:
1. Run the demo file on RTABmap
2. Export the nodes and edges of the global/local non optimized graph after loop closure detection.

Currently, i am able to run the demo bag. I tried exporting the poses using database viewer. But, that's not working.

[matlabbe]

The File->Export poses option is not in DatabaseViewer for version 0.11.8. However, it is in "rtabmap". Open the database in rtabmap standalone, then File->Export Poses. If you want poses not optimized, Do "Edit->Download Graph"->"not optimized" then redo File->Export  poses. Version 0.11.8 has also only TORO output available for links.

[Raksha]

Thanks Mathieu! I was able to get the poses.