Revision history [back]

Here's a sample script to do it, following @zkytony 's answer:

#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import PoseStamped, TransformStamped
import tf2_ros
import tf2_geometry_msgs.tf2_geometry_msgs

one = PoseStamped()

trans = TransformStamped()
trans.transform.translation.x = 1

print(one)

two = tf2_geometry_msgs.do_transform_pose(one, trans)
print(two)

The output will be:

header:
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
pose:
  position: 
    x: 0.0
    y: 0.0
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0  

header:
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
pose:
  position: 
    x: 1.0
    y: 0.0
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.5
    w: 0.0