Function s_graphs::matrix2transform

Defined in File ros_utils.hpp

Function Documentation

geometry_msgs::msg::TransformStamped s_graphs::matrix2transform(const rclcpp::Time &stamp, const Eigen::Matrix4f &pose, const std::string &frame_id, const std::string &child_frame_id)

convert Eigen::Matrix to geometry_msgs::TransformStamped

Parameters:

stamp – timestamp
pose – Eigen::Matrix to be converted
frame_id – tf frame_id
child_frame_id – tf child frame_id

Returns:

converted TransformStamped