Function mbf_utility::transformPoint

Function Documentation

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

Transforms a point from one frame into another.

Parameters:

  • node – Shared pointer to node handle for logging.

  • tf_listener – TransformListener.

  • target_frame – Target frame for the point.

  • timeout – Timeout for looking up the transformation.

  • in – Point to transform.

  • out – Transformed point.

Returns:

true, if the transformation succeeded.