This inspect tool can display data from
pose_vel_6dof_t type pipes. It is usually used for checking the local pose which is sent to PX4, and the fixed pose which is the result of AprilTag relocalization. Both of these pipes are published by voxl-vision-px4.
yocto:/$ voxl-inspect-pose --help Tool to print pose data to the screen for inspection. The --local and --fixed arguments are shortcuts to view the local and fixed frame poses published by voxl-vision-px4. However, any 6-dof pose pipe can be inspected. -f, --fixed print pose of body with respect to fixed frame -h, --help print this help message -l, --local print pose of body with respect to lcoal frame -n, --newline print newline between each pose typical usage: /# voxl-inspect-pose -l /# voxl-inspect-pose vvpx4_body_wrt_local /# voxl-inspect-pose -f /# voxl-inspect-pose vvpx4_body_wrt_fixed
yocto:/$ voxl-inspect-pose --local timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | 791952 | 0.05 -0.03 -0.10 | 1.6 -5.3 -0.1 | 0.00 0.00 0.00 | 0.17 -0.24 0.08 |^
Source code available on Gitlab.