def transformPose(self, target_frame, pose, time=None):
transform = self.tfBuffer.lookup_transform(
target_frame, pose.header.frame_id,
pose.header.stamp if time is not None else rospy.Time(0),
rospy.Duration(1.0))
new_pose = do_transform_pose(pose, transform)
return new_pose
def transformPose(target_frame, pose):
global tfBuffer
transform = tfBuffer.lookup_transform(target_frame,
pose.header.frame_id, # source frame
pose.header.stamp, # get the tf at first available time
rospy.Duration(1.0))
new_pose = do_transform_pose(pose, transform)
return new_pose
def transformPose(self, target_frame, pose):
transform = self.tfBuffer.lookup_transform(
target_frame,
pose.header.frame_id, # source frame
rospy.Time(0), # get the tf at first available time
rospy.Duration(1.0))
new_pose = do_transform_pose(pose, transform)
return new_pose
def local_pose_to_global_pose(self, local_pose):
trans = self.controller.tf_buffer.lookup_transform(
self.controller.global_map_name, # target
self.local_map_name, # source
rospy.Time(),
rospy.Duration(10.0))
transformed_pose = tf2_geometry_msgs.do_transform_pose(
local_pose, trans)
transformed_pose.header.frame_id = self.controller.global_map_name
return transformed_pose