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I'd like to use the header stamp in a call to lookupTransform and assume that a conversion would happen automatically, but I'm getting no matching function call build errors. Is there a header to include that will handle this, or is it not implemented yet and I have to convert it manually?
The manual conversion:
builtin_interfaces::msg::Time time_stamp = msg->header.stamp;
tf2::TimePoint time_point = tf2::TimePoint(
std::chrono::seconds(time_stamp.sec) +
std::chrono::nanoseconds(time_stamp.nanosec));
geometry_msgs::msg::TransformStamped tf = buffer_.lookupTransform(
frame1, frame2, time_point)
You can use these functions form tf2_ros/buffer_interface.h:
TimePoint to builtin_interfaces::msg::Time
inline builtin_interfaces::msg::Time toMsg(const tf2::TimePoint & t)
builtin_interfaces::msg::Time to TimePoint
inline const tf2::TimePoint& fromMsg(const builtin_interfaces::msg::Time & time_msg)
Asked: 2018-12-04 14:03:53 -0500
Seen: 2,185 times
Last updated: Dec 04 '18
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