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I would use TF's transformPose to get a pose in some fixed frame and use that pose to point the head.
Create a new tf::Stamped<tf::pose> with the frame id of your face frame and the current time as stamp and make it an identity pose, i.e. with a vector of (0 0 0) and a quaternion of (0 0 0 1). Then use tf::TransformListener::transformPose to transform that pose into some fixed frame, e.g. base_footprint (if the robot doesn't move) or map. Then use the resulting pose for pointing the head.
| | 2 | No.2 Revision |
I would use TF's transformPose to get a pose in some fixed frame and use that pose to point the head.
Create a new tf::Stamped<tf::pose> tf::Stamped<tf::Pose> with the frame id of your face frame and the current time as stamp and make it an identity pose, i.e. with a vector of (0 0 0) and a quaternion of (0 0 0 1). Then use tf::TransformListener::transformPose tf::TransformListener::transformPose to transform that pose into some fixed frame, e.g. base_footprint (if the robot doesn't move) or map. Then use the resulting pose for pointing the head.
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