Function nav2_util::transformPoseInTargetFrame

Function Documentation

bool nav2_util::transformPoseInTargetFrame(const geometry_msgs::msg::PoseStamped &input_pose, geometry_msgs::msg::PoseStamped &transformed_pose, tf2_ros::Buffer &tf_buffer, const std::string target_frame, const double transform_timeout = 0.1)

get an arbitrary pose in a target frame

Parameters:

  • input_pose – Pose to transform

  • transformed_pose – Output transformation

  • tf_buffer – TF buffer to use for the transformation

  • target_frame – Frame to transform into

  • transform_timeout – TF Timeout to use for transformation

Returns:

bool Whether it could be transformed successfully