https://github.com/Achllle/dual_quaternions_ros

Dual Quaternion conversions from/to ROS messages
https://github.com/Achllle/dual_quaternions_ros

Last synced: about 2 months ago
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Dual Quaternion conversions from/to ROS messages

• Host: GitHub
• URL: https://github.com/Achllle/dual_quaternions_ros
• Owner: Achllle
• License: mit
• Created: 2018-12-10T22:14:27.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2020-08-14T09:50:10.000Z (almost 4 years ago)
• Last Synced: 2024-05-05T10:45:42.591Z (about 2 months ago)
• Language: Python
• Homepage:
• Size: 3.97 MB
• Stars: 31
• Watchers: 4
• Forks: 7
• Open Issues: 8
• Metadata Files:
  • Readme: README.rst
  • Changelog: CHANGELOG.rst
  • License: LICENSE

Lists

• awesome-robotic-tooling - dual quaternions ros - ROS python package for dual quaternion SLERP. (Planning and Control / Vector Map)
• awesome-robotic-tooling - dual quaternions ros - ROS python package for dual quaternion SLERP. (Planning and Control / Vector Map)
• Awesome-Autonomous-Driving - dual quaternions ros - ROS python package for dual quaternion SLERP. (6. Planning / 3.4 High Performance Inference)

README

        
Dual Quaternions ROS

====================

|travis| |tags|

.. |travis| image:: https://travis-ci.com/Achllle/dual_quaternions_ros.svg?branch=master

    :target: https://travis-ci.com/Achllle/dual_quaternions_ros

.. |tags| image:: https://img.shields.io/github/v/tag/achllle/dual_quaternions_ros

    :alt: GitHub tag (latest SemVer)

    :target: https://GitHub.com/Achllle/dual_quaternions_ros/tags/

Simple conversion methods for going from ROS `geometry_msgs` to dual quaternions and vice versa.

For the dual_quaternions repo, see `dual_quaternions `__.

Installation

------------

pip

~~~

.. code-block:: bash

  pip install dual_quaternions

ROS1 package

~~~~~~~~~~~

.. code-block:: bash

  apt install ros-$ROS_DISTRO-dual-quaternions-ros

Requirements

~~~~~~~~~~~~

* dual_quaternions

* geometry_msgs

Usage

-----

Import using::

    from dual_quaternions_ros import from_ros, to_ros_pose, to_ros_transform

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 to avoid picking a convention (active vs. passive)

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.to_ros_transform

    msg.header.frame_id = 'odom'

    msg.child_frame_id = 'base_link'

    br.sendTransform(msg)