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Replace tf_conversions with tf2::convert #66

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merged 2 commits into from
Jun 16, 2020
Merged

Replace tf_conversions with tf2::convert #66

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9fe4759
Replace tf_conversions with tf2::convert
gleichdick Jun 7, 2020
180eb25
Use toMsg() and fromMsg() instead of convert()
gleichdick Jun 7, 2020
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10 changes: 5 additions & 5 deletions src/imarker_end_effector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,8 @@
#include <string>

// Conversions
#include <eigen_conversions/eigen_msg.h>
#include <tf_conversions/tf_eigen.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2/convert.h>
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This line is redundant

Suggested change
#include <tf2/convert.h>


// this package
#include <moveit_visual_tools/imarker_robot_state.h>
Expand Down Expand Up @@ -117,7 +117,7 @@ void IMarkerEndEffector::iMarkerCallback(const visualization_msgs::InteractiveMa

// Convert
Eigen::Isometry3d robot_ee_pose;
tf::poseMsgToEigen(feedback->pose, robot_ee_pose);
tf2::convert(feedback->pose, robot_ee_pose);

// Update robot
solveIK(robot_ee_pose);
Expand Down Expand Up @@ -170,7 +170,7 @@ void IMarkerEndEffector::initializeInteractiveMarkers()
{
// Convert
geometry_msgs::Pose pose_msg;
tf::poseEigenToMsg(imarker_pose_, pose_msg);
tf2::convert(imarker_pose_, pose_msg);

// marker
make6DofMarker(pose_msg);
Expand All @@ -187,7 +187,7 @@ void IMarkerEndEffector::sendUpdatedIMarkerPose()
{
// Convert
geometry_msgs::Pose pose_msg;
tf::poseEigenToMsg(imarker_pose_, pose_msg);
tf2::convert(imarker_pose_, pose_msg);

imarker_server_->setPose(int_marker_.name, pose_msg);
imarker_server_->applyChanges();
Expand Down