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