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