action_database.py 文件源码

def make_pose_stamped_msg(self,translation,orientation,frame='/j2n6a300_link_base'):
        msg = PoseStamped()
        msg.header.frame_id = frame
        msg.header.stamp = rospy.Time.now()
        msg.pose.position.x = translation[0]
        msg.pose.position.y = translation[1]
        msg.pose.position.z = translation[2]
        msg.pose.orientation.x = orientation[0]
        msg.pose.orientation.y = orientation[1]
        msg.pose.orientation.z = orientation[2]
        return msg