follow_waypoints.py 文件源码

def convert_PoseWithCovArray_to_PoseArray(waypoints):
    """Used to publish waypoints as pose array so that you can see them in rviz, etc."""
    poses = PoseArray()
    poses.header.frame_id = 'map'
    poses.poses = [pose.pose.pose for pose in waypoints]
    return poses