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tf2 transformPose in C++

I'm used to using the transformPose() method and similar from tf. However, the tf listener was apparently missing some static poses so I switched to tf2. Now I can get the TransformStamped but I'm struggling to actually apply it to a pose. So, how do you apply a TransformStamped to a PoseStamped?

The tf2 tutorials don't seem to cover this crucial aspect. (they should) Apologies if there's an obvious answer that I missed.

The Python version of this question: link text

tf2 transformPose in C++

I'm used to using the transformPose() method and similar from tf. However, the tf listener was apparently missing some static poses so I switched to tf2. Now I can get the TransformStamped but I'm struggling to actually apply it to a pose. So, how do you apply a TransformStamped to a PoseStamped?

The tf2 tutorials don't seem to cover this crucial aspect. (they should) Apologies if there's an obvious answer that I missed.

The Python version of this question: link text

tf2 transformPose in C++

I'm used to the transformPose() method and similar from tf. However, the tf listener was apparently missing some static poses so I switched to tf2. Now I can get the TransformStamped but I'm struggling to actually apply it to a pose. So, how do you apply a TransformStamped to a PoseStamped?

The tf2 tutorials don't seem to cover this crucial aspect. (they should) Apologies if there's an obvious answer that I missed.

The Python version of this question: link textquestion