tf_help.hpp

/*
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#ifndef NAV_2D_UTILS__TF_HELP_HPP_
#define NAV_2D_UTILS__TF_HELP_HPP_
 
#include <string>
#include <memory>
#include "tf2_ros/buffer.h"
#include "nav_2d_utils/conversions.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_2d_msgs/msg/pose2_d_stamped.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
namespace nav_2d_utils
{
bool transformPose(
  const std::shared_ptr<tf2_ros::Buffer> tf,
  const std::string frame,
  const geometry_msgs::msg::PoseStamped & in_pose,
  geometry_msgs::msg::PoseStamped & out_pose,
  rclcpp::Duration & transform_tolerance
);
 
bool transformPose(
  const std::shared_ptr<tf2_ros::Buffer> tf,
  const std::string frame,
  const nav_2d_msgs::msg::Pose2DStamped & in_pose,
  nav_2d_msgs::msg::Pose2DStamped & out_pose,
  rclcpp::Duration & transform_tolerance
);
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS__TF_HELP_HPP_