tf2 convert transform to msg

roscpp
tf2

asked 2015-04-09 11:49:47 -0600

Michael Stoll
71 ●6 ●8 ●12

This should be a simple task:

#include <tf2/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>

...
geometry_msgs::TransformStamped transform = anything;
geometry_msgs::PoseStamped pose;
tf2::convert(transform, pose);
...

So this code should convert the TransformStamped to PoseStamped (similar to tf::poseTFtoMsg). But the compiler complains that toMsg and fromMsg aren't defined. IMO there are some includes missing. Where are toMsg and fromMsg for PoseStamped defined?

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answered 2015-04-10 01:13:35 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

updated 2015-04-10 01:14:46 -0600

If you are getting errors with missing definitions that means that you have do not have the correct headers included.

There are tutorials here: http://wiki.ros.org/tf2/Tutorials/Mig...

However you'll find that PoseStamped and TransformStamped do not have conversions defined between them because they contain different data. The convert method is designed for converting homogeneous datatypes between representations in different libraries. Any conversion must be reversible for it to work in this framework.

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answered 2017-09-14 09:21:51 -0600

bsaund
161 ●2 ●7 ●6

tf2::convert is not designed to convert one message to a different message. http://docs.ros.org/kinetic/api/tf2/h...

Technically, geometry_msgs::Transform and geometry_msgs::Pose are different data, though I frequently find that I want to convert between the two. You can overload "convert" or use a different function name in a helper file.

namespace tf2
{
    inline
    void convert(const geometry_msgs::Transform& trans, geometry_msgs::Pose& pose)
    {
        pose.orientation = trans.rotation;
        pose.position.x = trans.translation.x;
        pose.position.y = trans.translation.y;
        pose.position.z = trans.translation.z;
    }

    inline
    void convert(const geometry_msgs::Pose& pose, geometry_msgs::Transform& trans)
      {
        trans.rotation = pose.orientation;
        trans.translation.x = pose.position.x;
        trans.translation.y = pose.position.y;
        trans.translation.z = pose.position.z;
    }

    inline
    void convert(const geometry_msgs::TransformStamped& trans, geometry_msgs::PoseStamped& pose)
    {
        convert(trans.transform, pose.pose);
        pose.header = trans.header;
    }

    inline
    void convert(const geometry_msgs::PoseStamped& pose, geometry_msgs::TransformStamped& trans)
    {
        convert(pose.pose, trans.transform);
        trans.header = pose.header;
    }
}

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