The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
The core tf2 library only has dependencies on a few ROS datatypes, but does not depend on the communication layer.
And the tf2_py bindings do add rospy but I believe that's only to access the rospy Time constructs. This likely could easily be stubbed out for you to package up. Or even better refactored to be in the rostime that the c++ implementation uses.
It's not packaged and release on PyPi with these changes already but it is designed that you you could relatively trivially fork the geometry2 repository and strip it down to just the elements you want by deleting the packages you don't want.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
