Function roboplan_ros_cpp::buildConversionMap

Defined in File type_conversions.hpp

Function Documentation

tl::expected<JointStateConverterMap, std::string> roboplan_ros_cpp::buildConversionMap(const roboplan::Scene &scene, const sensor_msgs::msg::JointState &joint_state)

Constructs a JointState conversion map given a RoboPlan scene and JointState message.

Parameters:

scene – The RoboPlan Scene.
joint_state – Sample ROS joint_state message.

Returns:

The joint information struct if successful, else a string describing the error.