Generating a Goal Pose from a Surface Normal


I currently have a ROS system which estimates the normal of a pointcloud. I’m wondering what the right way to convert this PCL normal data type into a goal pose is.



The basic way would be to just extract all the data form th PCL, cate a Pose object and fill it with the corresponding data.

Also have a look at this: c++ - Publishing marker and point cloud at the same time - Stack Overflow