does tf.TransformListener.lookupTransform return quaternion & position, or translation and rotation?
Does tf.TransformListener.lookupTransform return quaternion & position, or translation and rotation?
The Using Python tf tutorial and the Indigo Python API give
position, quaternion = self.tf.lookupTransform("/base_link", "/map", rospy.Time())
and
lookupTransform(target_frame, source_frame, time) -> (position, quaternion)
, but the Writing a tf listener (Python)) tutorial gives
(trans,rot) = listener.lookupTransform('/turtle2', '/turtle1', rospy.Time())
Is there a change between Indigo and Jade or Kinetic from (quat,pos) to (trans,rot)?
Also - where is the source code; can't find it in https://github.com/ros/geometry/tree/...