ros数据转换

写在前面

1、本文内容
ros数据转换

2、平台
ubuntu1804, ros melodic
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/127412292

转换

ros-pcl

https://blog.csdn.net/stephanezhang/article/details/122214518

ROS-Eigen消息转换

https://www.codenong.com/cs110367661/
https://blog.csdn.net/u012424737/article/details/110367661
http://docs.ros.org/en/jade/api/eigen_conversions/html/eigen__msg_8h.html

geometry_msgs::Transform转eigen matrix4x4

Eigen::Matrix4d transform_to_mat(geometry_msgs::Transform transform){
	Eigen::Matrix4d transform_mat = Eigen::Matrix4d::Identity();
	Eigen::Quaterniond quat_eigen = Eigen::Quaterniond::Identity();
	tf::quaternionMsgToEigen(transform.rotation, quat_eigen);
	transform_mat.block<3, 3>(0, 0) = quat_eigen.matrix();
	transform_mat(0, 3) = transform.translation.x;
	transform_mat(1, 3) = transform.translation.y;
	transform_mat(2, 3) = transform.translation.z;
	return transform_mat;
}

references://https://blog.csdn.net/HelloJinYe/article/details/106926187

其他

参考

文中已列出