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

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?

Answer 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#bvcig7l --> transform a msg using a desired time

http://www.mathworks.com/help/robotics/ref/transform.html#bvcile2 --> learn more about time travel using getTransform which interpolates.