Ros2 Foxy tf.transformations.quaternion_from_euler equivalent

I'm trying to migrate my old packages from ROS to ROS2. One package needs to convert from quaternions to euler notation, in the first version I implemented my own transformation functions, later I migrated to quaternion_from_euler from tf.transformations. I can only find confusing documentation online. What would be the best approach to use an equivalent for tf.transformations.quaternion_from_euler() in Python for Ros2 Foxy?

Asked by veilkrand on 2021-03-02 03:30:51 UTC

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Have a look at this similar thread.

Asked by turtleMaster20 on 2021-03-02 04:09:22 UTC

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Ok so I'm getting back to my original implementation. It's kind of sad to see how the planned ROS roadmap put critical functionality out without providing any solid and documented alternative

Asked by veilkrand on 2021-03-02 06:29:10 UTC

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tf.transformations is a fork of https://github.com/cgohlke/transformations/ This package has been deprecated "Transformations.py is no longer actively developed and has a few known issues and numerical instabilities."

One of their recommended alternatives is to use transforms3d https://matthew-brett.github.io/transforms3d/

This is currently available as a pip dependency: https://index.ros.org/d/python-transforms3d-pip/ via rosdep.

Effort to package this into a ROS package to make it more resuable would be appreciated. Or to push it into upstream packaging efforts would also work.

Asked by tfoote on 2021-03-02 15:41:57 UTC

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This might be useful: https://github.com/DLu/tf_transformations

Asked by tnajjar on 2022-03-07 07:16:49 UTC