get_odom

Signature:

BoosterRobot.get_odom() -> OdomState

Description:

Get the most recent frame of odometry data.

Parameters:

No parameters.

Returns:

OdomState, see "Perception and State Data / OdomState"

Raises:

DataNotReadyError: No odometry data was obtained within the timeout period.

Example:

from boosteros.robots.booster import BoosterRobot

robot = BoosterRobot()
odom = robot.get_odom()
print(odom.position, odom.rpy)
# Example output: [-0.45956746 -0.10788245  0.        ] [ 0.          0.         -1.38284385]