conversions.cpp

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#include "nav_2d_utils/conversions.hpp"
 
#include <vector>
#include <string>
 
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#include "tf2/utils.hpp"
#pragma GCC diagnostic pop
 
#include "nav2_util/geometry_utils.hpp"
 
namespace nav_2d_utils
{
using nav2_util::geometry_utils::orientationAroundZAxis;
 
geometry_msgs::msg::Twist twist2Dto3D(const nav_2d_msgs::msg::Twist2D & cmd_vel_2d)
{
  geometry_msgs::msg::Twist cmd_vel;
  cmd_vel.linear.x = cmd_vel_2d.x;
  cmd_vel.linear.y = cmd_vel_2d.y;
  cmd_vel.angular.z = cmd_vel_2d.theta;
  return cmd_vel;
}
 
nav_2d_msgs::msg::Twist2D twist3Dto2D(const geometry_msgs::msg::Twist & cmd_vel)
{
  nav_2d_msgs::msg::Twist2D cmd_vel_2d;
  cmd_vel_2d.x = cmd_vel.linear.x;
  cmd_vel_2d.y = cmd_vel.linear.y;
  cmd_vel_2d.theta = cmd_vel.angular.z;
  return cmd_vel_2d;
}
 
nav_msgs::msg::Path posesToPath(
  const std::vector<geometry_msgs::msg::Pose> & poses,
  const std::string & frame, const rclcpp::Time & stamp)
{
  nav_msgs::msg::Path path;
  path.poses.resize(poses.size());
  path.header.frame_id = frame;
  path.header.stamp = stamp;
  for (unsigned int i = 0; i < poses.size(); i++) {
    path.poses[i].header.frame_id = frame;
    path.poses[i].header.stamp = stamp;
    path.poses[i].pose = poses[i];
  }
  return path;
}
 
}  // namespace nav_2d_utils