Spatial Maths for ROS

This ROS package is a collection of conversion functions that wrap the Spatial Maths for Python package.

Installing

Clone the package into a Catkin workspace:

u@pc:~/catkin_ws/src$ git clone https://github.com/qcr/spatialmath-ros

And then install as usual using catkin_make:

u@pc:~/catkin_mws$ catkin_make

Usage

We use a consistent naming system in all functions for predictable usage:

output = <input_identifier>_to_<output_identifier>(input)

Where:

• output is an object of type corresponding to output_identifier
• input is an object of type corresponding to input_identifier

For example, the following creates an SE3 object corresponding to a ROS pose message:

my_SE3 = pose_msg_to_SE3(my_pose_msg)

The following tables list the supported identifiers.

ROS Identifiers

Identifier	ROS Message Type
pose_msg	geometry_msgs/Pose
quat_msg	geometry_msgs/Quaternion
tf_msg	geometry_msgs/Transform

Spatial Maths for Python Identifiers

Identifier	Spatial Maths package Type
quat	spatialmath.UnitQuaternion
SE3	spatialmath.SE3
SE2	spatialmath.SE2