32 #include <geometry_msgs/PoseStamped.h> 47 "The topic on which to publish navigation goals.",
67 quat.
setRPY(0.0, 0.0, theta);
69 geometry_msgs::PoseStamped goal;
71 ROS_INFO(
"Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", fixed_frame.c_str(),
72 goal.pose.position.x, goal.pose.position.y, goal.pose.position.z,
73 goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w, theta);
void publish(const boost::shared_ptr< M > &message) const
static void poseStampedTFToMsg(const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
std::string getStdString()
void setRPY(const tfScalar &roll, const tfScalar &pitch, const tfScalar &yaw)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
Property specialized for string values.
virtual QString getFixedFrame() const =0
Return the fixed frame name.
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)