Function mbf_utility::getRobotPose

Function Documentation

bool mbf_utility::getRobotPose(const rclcpp::Node::ConstSharedPtr &node, const TF &tf, const std::string &robot_frame, const std::string &global_frame, const rclcpp::Duration &timeout, geometry_msgs::msg::PoseStamped &robot_pose)

Computes the robot pose.

Parameters:

  • node – Node shared pointer for logging and access to the clock.

  • tf_listener – TransformListener.

  • robot_frame – frame of the robot.

  • global_frame – global frame in which the robot is located.

  • timeout – Timeout for looking up the transformation.

  • robot_pose – the computed rebot pose in the global frame.

Returns:

true, if succeeded, false otherwise.