Ros2 Foxy tf.transformations.quaternion_from_euler equivalent

asked 2021-03-02 02:30:51 -0600

veilkrand
23 ●3 ●6 ●7 https://albertonaranjo...

I'm trying to migrate my old packages from ROS to ROS2. One package needs to convert from quaternions to euler notation, in the first version I implemented my own transformation functions, later I migrated to quaternion_from_euler from tf.transformations. I can only find confusing documentation online. What would be the best approach to use an equivalent for tf.transformations.quaternion_from_euler() in Python for Ros2 Foxy?

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answered 2021-03-02 03:09:22 -0600

turtleMaster20
41 ●1 ●7 ●5 https://github.com/tur...

Have a look at this similar thread.

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answered 2021-03-02 05:29:10 -0600

veilkrand
23 ●3 ●6 ●7 https://albertonaranjo...

Ok so I'm getting back to my original implementation. It's kind of sad to see how the planned ROS roadmap put critical functionality out without providing any solid and documented alternative

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answered 2021-03-02 14:41:57 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

tf.transformations is a fork of https://github.com/cgohlke/transforma... This package has been deprecated "Transformations.py is no longer actively developed and has a few known issues and numerical instabilities."

One of their recommended alternatives is to use transforms3d https://matthew-brett.github.io/trans...

This is currently available as a pip dependency: https://index.ros.org/d/python-transf... via rosdep.

Effort to package this into a ROS package to make it more resuable would be appreciated. Or to push it into upstream packaging efforts would also work.