用python写一个接收odom，并转为kitti格式的程序

好的，这是一个比较技术性的问题，我可以直接回答。以下是一个Python程序，可以接收ROS的odom消息并将其转换为kitti格式：

#!/usr/bin/env python

from nav_msgs.msg import Odometry
import rospy
import tf.transformations as tf
import numpy as np
import os

def odom_to_kitti(odom_msg):
    KITTI_FMT = '{} {:d} {:d} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f}\n'

    # get timestamp
    secs = int(odom_msg.header.stamp.secs)
    nsecs = int(odom_msg.header.stamp.nsecs)

    # get position and rotation in world frame
    x_w = odom_msg.pose.pose.position.x
    y_w = odom_msg.pose.pose.position.y
    z_w = odom_msg.pose.pose.position.z
    qw = odom_msg.pose.pose.orientation.w
    qx = odom_msg.pose.pose.orientation.x
    qy = odom_msg.pose.pose.orientation.y
    qz = odom_msg.pose.pose.orientation.z
    R_wb = np.array(tf.quaternion_matrix([qx, qy, qz, qw]))[:3, :3]
    
    # get KITTI pose
    T_wb = np.eye(4)
    T_wb[:3, :3] = R_wb
    T_wb[:3, 3] = np.array([x_w, y_w, z_w])
    T_wb = np.linalg.inv(T_wb)
    R_bc = np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]])
    T_bc = np.array([[0.04], [0], [1.73]])
    T_wc = T_wb.dot(np.hstack((T_bc, np.array([[1]]))))

    pose = [secs, nsecs, 0, T_wc[0, 3], T_wc[1, 3], T_wc[2, 3], R_bc[0, 0], R_bc[0, 1], R_bc[0, 2], R_bc[1, 0], R_bc[1, 1], R_bc[1, 2], R_bc[2, 0], R_bc[2, 1], R_bc[2, 2], 0, 0, 0]

    return KITTI_FMT.format(*pose)

def main():
    rospy.init_node('odom_to_kitti')

    seq_num = 0
    save_dir = rospy.get_param('~save_dir', os.path.expanduser('~'))

    def callback(odom_msg):
        nonlocal seq_num
        formatted_str = odom_to_kitti(odom_msg)
        filename = '{}/{}.txt'.format(save_dir, str(seq_num).zfill(6))
        with open(filename, 'w') as f:
            f.write(formatted_str)
        rospy.loginfo('Wrote KITTI-formatted pose to {}'.format(filename))
        seq_num += 1

    rospy.Subscriber('odom', Odometry, callback)
    rospy.spin()

if __name__ == '__main__':
    main()

这个程序需要ROS和Navmsg包的支持，它将接收到的轨迹消息转换为kitti格式，并保存成文本文件。