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Dual quaternion ROS converter

Project description

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 .

Requirements

  • dual_quaternions

Usage

Import using:

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)

Project details


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