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pilz_industrial_motion_planner: Use tf2::fromMsg instead of tf2::convert (backport #3219) #3223

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Merged
sea-bass merged 1 commit into from
Jan 10, 2025
Merged

pilz_industrial_motion_planner: Use tf2::fromMsg instead of tf2::convert (backport #3219) #3223

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4 changes: 2 additions & 2 deletions moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,7 @@ bool pilz_industrial_motion_planner::computePoseIK(const planning_scene::Plannin
const double timeout)
{
Eigen::Isometry3d pose_eigen;
tf2::convert<geometry_msgs::msg::Pose, Eigen::Isometry3d>(pose, pose_eigen);
tf2::fromMsg(pose, pose_eigen);
return computePoseIK(scene, group_name, link_name, pose_eigen, frame_id, seed, solution, check_self_collision,
timeout);
}
Expand Down Expand Up @@ -589,7 +589,7 @@ bool pilz_industrial_motion_planner::isStateColliding(const planning_scene::Plan
void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat)
{
tf2::Quaternion q;
tf2::convert<geometry_msgs::msg::Quaternion, tf2::Quaternion>(quat, q);
tf2::fromMsg(quat, q);
quat = tf2::toMsg(q.normalized());
}

Expand Down