Function nav2_util::getTransform(const std::string&, const std::string&, const tf2::Duration&, const std::shared_ptr<tf2_ros::Buffer>, geometry_msgs::msg::TransformStamped&)

Function Documentation

bool nav2_util::getTransform(const std::string &source_frame_id, const std::string &target_frame_id, const tf2::Duration &transform_tolerance, const std::shared_ptr<tf2_ros::Buffer> tf_buffer, geometry_msgs::msg::TransformStamped &transform_msg)

Obtains a transform from source_frame_id -> to target_frame_id.

Parameters:

  • source_frame_id – Source frame ID to convert from

  • target_frame_id – Target frame ID to convert to

  • transform_tolerance – Transform tolerance

  • tf_buffer – TF buffer to use for the transformation

  • transform_msg – Output source->target transform msg

Returns:

True if got correct transform, otherwise false