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If covariance is not important:

geometry_msgs::PoseWithCovariance poseWithCovarianceMsg;
tf::Transform transform;
transform.setRotation(tf::Quaternion(poseWithCovarianceMsg.pose.orientation.x,
                                     poseWithCovarianceMsg.pose.orientation.y,
                                     poseWithCovarianceMsg.pose.orientation.z,
                                     poseWithCovarianceMsg.pose.orientation.w));
transform.setOrigin(tf::Vector3(poseWithCovarianceMsg.pose.position.x,
                                poseWithCovarianceMsg.pose.position.y,
                                poseWithCovarianceMsg.pose.position.z));

geometry_msgs::Transform transformMsg;
tf::transformTFToMsg(transform, transformMsg);