Hi everyone,
For some purpose, I want to publish a navigation goal(`type geometry_msgs::PoseStamped` ). Now I want to get the position and orientation from the laserscan data as fellows, how can i make it?
float ra = scan_msg->ranges[t];
float angle = scan_msg->angle_min + i * scan_msg->angle_increment;
the laserscan frame_id = "laser", the map frame_id = "map", and I have the tf tree `laser->base_link->odom->map`.
Any suggestions.
Thank You In Advance!!!
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