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tf2 - where's quaternion_from_euler gone?

asked 2013-08-19 13:09:49 -0500

Hendrik Wiese gravatar image

updated 2014-01-28 17:17:42 -0500

ngrennan gravatar image


since I'm trying to migrate my workspace from Groovy to Hydro there are some questions arising. This is one of them. I'm going to post the others seperately.

In Python, how do I convert a vector of Euler angles into a quaternion using tf2? In tf there was something like


How's that done with tf2?


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answered 2013-08-19 14:41:26 -0500

tfoote gravatar image

tf2 has been redesigned to provide only the functionality of tf and not bundle in external libraries for convenience. is an externally developed library which was included inside of tf for convenience. For now you can continue to use it in that location. Down the road it would be cleaner to package itself

More information on can be found here:

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answered 2016-08-16 04:33:21 -0500

vtalpaert gravatar image

It's simply in a new package, so use

tf_conversions.transformations.quaternion_from_euler(roll, pitch, yaw)

instead of

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answered 2015-01-01 09:18:24 -0500

Vincent Rabaud gravatar image

you can use PyKDL as shown here:

All you need is here:

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Asked: 2013-08-19 13:09:49 -0500

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Last updated: Aug 16 '16