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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
For anyone who stumbles upon this in the future, now there is a function available in the tf_transformations library called euler_from_quaternion in ROS2 Humble and above.
You can use it by importing it first from tf_transformations import euler_from_quaternion
Then convert the quaternion to roll, pitch, yaw by
orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
(roll, pitch, yaw) = euler_from_quaternion(orientation_list)
self.pose_yaw = yaw
if @nsprague's answer does not satisfy you, and you do not want to use transforms3d library, you can also implement the function yourself:
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.
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:
TL/DR: ros2 should stay lightweight. An idea is to package transforms3d library for ROS2 like it was done for kinetic.
Thank you very much for all the replies.
As a workaround, I have found an implementation of the transformations:
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.
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
Asked: 2020-06-25 09:18:18 -0500
Seen: 6,961 times
Last updated: Jan 11 '21
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