Function ouster_ros::transform_to_tf_msg

Defined in File os_ros.h

Function Documentation

geometry_msgs::msg::TransformStamped ouster_ros::transform_to_tf_msg(const ouster::mat4d &mat, const std::string &frame, const std::string &child_frame, rclcpp::Time timestamp)

Convert transformation matrix return by sensor to ROS transform

Parameters:

mat – [in] transformation matrix return by sensor
frame – [in] the parent frame of the published transform
child_frame – [in] the child frame of the published transform
timestamp – [in] value to set as the timestamp of the generated TransformStamped message

Returns:

ROS message suitable for publishing as a transform