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In my understanding the tf2_geometry_msgs are not build for python (the binding) in ros eloquent, you need this pullrequ

In my understanding the tf2_geometry_msgs are not build (the binding) in ros eloquent, you need this pullrequest, and th

I am wondering if you know a better way (less boiler code) that will allow me to inverse a transform msg, in Python. For now I use the following code:

from geometry_msgs.msg import PoseStamped, TransformStamped
from tf import TransformerROS

res = TransformStamped()  # creating new transform msg
res.header.stamp = input_transform.header.stamp  # same timestamp
res.header.frame_id = input_transform.child_frame_id  # inverting frame_id and child_frame_id manualy
res.child_frame_id = input_transform.header.frame_id
transformer = TransformerROS()  # using a transformer in order to compute inverse transform
transformer.setTransform(input_transform)  # using the input_transform
translation, rotation = transformer.lookupTransform(res.header.frame_id, res.child_frame_id, rospy.Time(0))  # using lookup in order to get the inverse of input transform (here I use input_transform.child_frame_id to input_transform_frame_id
for attr_name, val in zip(['x', 'y', 'z'], translation):
    res.transform.translation.__setattr__(attr_name, val)
for attr_name, val in zip(['x', 'y', 'z', 'w'], rotation):
    res.transform.rotation.__setattr__(attr_name, val)

what do you think ?

Similar to sergey_alexandrov answer, but using psutils python module as highlight on stackoverflow : http://stackoverflow.com/questions/33...

def terminate_process_and_children(p):
  import psutil
  process = psutil.Process(p.pid)
  for sub_process in process.get_children(recursive=True):
      sub_process.send_signal(signal.SIGINT)
  p.wait()  # we wait for children to terminate
  p.terminate()

def main():
  dir_save_bagfile = '/tmp/'
  rosbag_process = subprocess.Popen('rosbag record -a -j -o {}'.format("my_rosbag_prefis"), stdin=subprocess.PIPE, shell=True, cwd=dir_save_bagfile)
  terminate_process_and_children(rosbag_process)

I don't know the ros way to do it, and personally I use python subbprocess to run the roscore first:

import subprocess
roscore = subprocess.Popen('roscore')
time.sleep(1)  # wait a bit to be sure the roscore is really launched

then your code:

unittest.main()  # for instance in my case I need a roscore to run some node tests