Function roboplan_ros_cpp::toJointState

• Defined in File type_conversions.hpp

Function Documentation

tl::expected<sensor_msgs::msg::JointState, std::string> roboplan_ros_cpp::toJointState(const roboplan::JointConfiguration &config, const roboplan::Scene &scene)

Converts a roboplan::JointConfiguration object to a ROS 2 JointState message.

Parameters:

• config – The roboplan JointConfiguration to convert

• scene – The RoboPlan scene containing the model’s joint information.

Returns:

An equivalent ROS 2 JointState message, or an error.