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[melodic-devel] Replace tf_conversions with tf2's toMsg / fromMsg (#66) #73

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merged 1 commit into from Aug 3, 2020
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[melodic-devel] Replace tf_conversions with tf2's toMsg / fromMsg (#66) #73

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11 changes: 4 additions & 7 deletions src/imarker_end_effector.cpp
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Expand Up @@ -43,8 +43,7 @@
#include <string>

// Conversions
#include <eigen_conversions/eigen_msg.h>
#include <tf_conversions/tf_eigen.h>
#include <tf2_eigen/tf2_eigen.h>

// this package
#include <moveit_visual_tools/imarker_robot_state.h>
Expand Down Expand Up @@ -117,7 +116,7 @@ void IMarkerEndEffector::iMarkerCallback(const visualization_msgs::InteractiveMa

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

// Update robot
solveIK(robot_ee_pose);
Expand Down Expand Up @@ -169,8 +168,7 @@ void IMarkerEndEffector::solveIK(Eigen::Isometry3d& pose)
void IMarkerEndEffector::initializeInteractiveMarkers()
{
// Convert
geometry_msgs::Pose pose_msg;
tf::poseEigenToMsg(imarker_pose_, pose_msg);
const geometry_msgs::Pose pose_msg = tf2::toMsg(imarker_pose_);

// marker
make6DofMarker(pose_msg);
Expand All @@ -186,8 +184,7 @@ void IMarkerEndEffector::updateIMarkerPose(const Eigen::Isometry3d& pose)
void IMarkerEndEffector::sendUpdatedIMarkerPose()
{
// Convert
geometry_msgs::Pose pose_msg;
tf::poseEigenToMsg(imarker_pose_, pose_msg);
const geometry_msgs::Pose pose_msg = tf2::toMsg(imarker_pose_);

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