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I finally found an example of code and it works:

tf::TransformListener listener(ros::Duration(10));
listener.transformPoint("base_link", *goal_stamped, goal_stamped_);

where goal_stamped is a const geometry_msgs::PointStamped::constPtr (subscribed from a topic) and goal_stamped_ is the geometry_msg::PointStamped that I want to use in my code, with frame_id="base_link" (it is the output of the transformPoint function.

Sorry, I hope it will help others!