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View Code? Open in Web Editor NEWROS package for rebroadcasting a transform in the TF tree to a PoseStamped or PointStamped
ROS package for rebroadcasting a transform in the TF tree to a PoseStamped or PointStamped
Hi there,
I am quite new to ROS and I have been going crazy over TF. So my situation is this,
I have a node that gives me the global goal in /map frame from gazebo like this:
goal_pose_pub_= n_.advertise<geometry_msgs::PointStamped>("/global_goal", 10);
And in my A* Node, I have a callback
void AStar::goalCallback(const geometry_msgs::PointStamped::ConstPtr& goal_msg)
but the goal_msg currently contains the /map frame goal so needs to be transformed to /odom frame. So how can I use your code to transform the /global goal in the correct frame co-ordinates ?
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