Revision history [back]

This is very straightforward using tf2. If you setup a tfBuffer object with a tfListener as described in this tf2 tutorial. Then you can use the transform method of the tfBuffer object to transform the pose msg directly from one frame to the other.

This tutorial is very close to exactly what you're trying to do, I really recommend working through it and understanding what's going on. Simply copying and pasting someone else's code example into your project is never a good idea.