/// convert libEigen matrix to a tf::Transform tf::Transform tfFromEigen(Eigen::Matrix4f trans) { tf::Matrix3x3 btm(trans(0,0),trans(0,1),trans(0,2), trans(1,0),trans(1,1),trans(1,2), trans(2,0),trans(2,1),trans(2,2)); tf::Vector3 origin (trans(0,3),trans(1,3),trans(2,3)); tf::Transform ret (btm, origin); return ret; }
int main(int argc, char** argv){ ros::init(argc, argv, "bumper_to_MTSA"); ros::NodeHandle nh; ros::NodeHandle nh_private("~"); ROS_to_MTSA::BumperToMTSA btm(nh, nh_private); // ROS_to_MTSA::BumperToMTSA publisher_init(); btm.run(); ros::spin(); }