Function utils::poseToCell

Function Documentation

Point2i utils::poseToCell(geometry_msgs::msg::PoseStamped pose, nav_msgs::msg::MapMetaData map_info, std::string target_frame_id, std::shared_ptr<tf2_ros::Buffer> tf_buffer)

Convert a pose to a cell in the occupancy grid.

Parameters:
  • pose – pose to convert

  • map_info – occupancy grid metadata

  • target_frame_id – target frame id

  • tf_buffer – tf buffer