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ROS2 Python quaternion to euler

asked 2020-06-25 09:18:18 -0500

sbalmagro gravatar image

Dear ROS community,

I am trying to use the function "quaternion to euler" using python for ROS2 eloquent, but I can not import the right library.

Here there is not example related to that: https://github.com/ros2/geometry2

I really appreciate if you could guide me.

BR

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answered 2020-12-26 15:02:12 -0500

leuko gravatar image

if @nsprague's answer does not satisfy you, and you do not want to use transforms3d library, you can also implement the function yourself:

https://automaticaddison.com/how-to-c...

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Hello, I read since hours about this topic but I'm totally lost now. I need a way to build a Quaternion from Euler in Python for ROS2 Foxy as my IMU Sensor only provide YPR as Euler. Do I really need to build a method in Python to do this by my own? Is there really no build-in functionality I can use? I found some example using c++ there they build a Quaternion by something like:

q = tf2::Quaternion() q.setRPY(r, p, y)

Is there no equivalent in Python for this? I can'T find any example on this.

PaddyCube gravatar image PaddyCube  ( 2021-01-11 13:56:39 -0500 )edit
5

answered 2020-06-25 15:02:18 -0500

nsprague gravatar image

You may be looking for the transformations.py file that is associated with tf. Here is an issue explaining why it doesn't exist in tf2:

https://github.com/ros/geometry2/issu...

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2

TL/DR: ros2 should stay lightweight. An idea is to package transforms3d library for ROS2 like it was done for kinetic.

leuko gravatar image leuko  ( 2020-12-26 14:59:47 -0500 )edit
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answered 2021-01-11 14:17:13 -0500

sbalmagro gravatar image

Thank you very much for all the replies.

As a workaround, I have found an implementation of the transformations:

https://gist.github.com/salmagro/2e69...

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-5

answered 2020-06-25 14:29:48 -0500

A simple google search of that question title resulted in several other questions and links with examples; please consider doing a little legwork before asking here.

https://www.theconstructsim.com/ros-q...

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5

Your link goes to a tutorial to use "euler_from_quaternion" on ROS1, the user asked for help on ROS2. I don't have enough point to downvote your answer

luca.fancellu gravatar image luca.fancellu  ( 2020-10-02 05:37:22 -0500 )edit

But I have.... downvote! And upvote for you Luca

Andromeda gravatar image Andromeda  ( 2021-07-29 07:52:56 -0500 )edit

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Asked: 2020-06-25 09:18:18 -0500

Seen: 1,614 times

Last updated: Jan 11 '21