Dual quaternion ROS converter
Simple conversion methods for going from ROS geometry_msgs to dual quaternions and vice versa
NOTE: there is no concept of ‘from’ and ‘to’ as frame names aren’t tracked or used (e.g. use of Pose iso PoseStamped). It is up to the user to keep track of those.
Installation & Requirements
In this directory:
pip install .
from dual_quaternions_ros import from_ros_pose, from_ros_transform, ros_pose, ros_transform
Publishing and getting transforms from tf
This package purposefully doesn’t have methods to receive and publish transforms to tf. Instead, it supports converting transforms to various ROS messages so you can use the standard way of interfacing:
br = tf2_ros.TransformBroadcaster() T_odom_baselink = DualQuaternion(...) msg = geometry_msgs.msg.TransformStamped() msg.transform = T_odom_baselink.ros_transform msg.header.frame_id = 'odom' msg.child_frame_id = 'base_link' br.sendTransform(msg)
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Hashes for dual_quaternions_ros-0.1.0.tar.gz
Hashes for dual_quaternions_ros-0.1.0-py2-none-any.whl