ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You should look at the tf_conversions package, specifically the tf::TransformEigenToTF function.
You would have to make an Eigen::Affine3d
from your Eigen::Matrix4f
. See the Eigen Geometry Module Tutorial (and linked docs for each class) for information on how to go about that. I expect it involves a conversion from Matrix4f to Matrix4d and then passing that to the Affine3d constructor, but I don't know the exact function calls and syntax required off the top of my head.