Quaternion transformations in Python
I'm trying to place some Markers in RViz, using a node written in Python. To this end, I need to create a
geometry_msgs.mgs.Pose with an
But I can't for the life of me find the utility and conversion functions that I need for Quaternions. There are some in
tf.transformations, but those produce
numpy Quaternions, which I would have to manually split up and throw into the
Considering that Quaternions are of little use without a set of functions to work with them, my question is: Where are the proper conversion functions for Quaternions? That is, functions to create and modify
geometry_msgs.msg.Quaternion or to convert between a
numpy Quaternion (4-tuple) and
geometry_msgs.msg.Quaternion (object with x,y,z,w attributes).
My environment is Ubuntu 12.04 Precise, with ROS fuerte (using fuerte is currently mandatory for this project; I'm already looking into upgrading, but that's not at all easy).