Function mbf_utility::transformPose

• Defined in File navigation_utility.h

Function Documentation

bool mbf_utility::transformPose(const rclcpp::Node::ConstSharedPtr node, const TF &tf, const std::string &target_frame, const rclcpp::Duration &timeout, const geometry_msgs::msg::PoseStamped &in, geometry_msgs::msg::PoseStamped &out)

Transforms a pose from one frame into another.

Parameters:

• node – Node shared ptr for logging.

• tf_listener – TransformListener.

• target_frame – Target frame for the pose.

• timeout – Timeout for looking up the transformation.

• in – Pose to transform.

• out – Transformed pose.

Returns:

true, if the transformation succeeded.