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Remove transforms3d #746

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merged 1 commit into from
Sep 6, 2024
+20 −15
Merged

Remove transforms3d #746

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1 change: 0 additions & 1 deletion swri_transform_util/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,6 @@
<test_depend>launch_ros</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>python-transforms3d-pip</test_depend>

<export>
<build_type>ament_cmake</build_type>
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2 changes: 2 additions & 0 deletions swri_transform_util/setup.py
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Expand Up @@ -13,6 +13,8 @@
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='Southwest Research Institute',
maintainer_email='[email protected]'
author='P. J. Reed',
author_email='[email protected]',
keywords=['ROS'],
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32 changes: 18 additions & 14 deletions swri_transform_util/test/test_initialize_origin.py
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Expand Up @@ -25,7 +25,8 @@
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#

import math
import sys
import time
import unittest
Expand All @@ -38,7 +39,6 @@
from rclpy.clock import ClockType
from rclpy.qos import QoSProfile, QoSDurabilityPolicy
from ros2topic.api import get_msg_class
import transforms3d as t3d

PKG = 'swri_transform_util'
NAME = 'test_initialize_origin'
Expand All @@ -59,6 +59,12 @@ def __init__(self):
super().__init__()
self.got_origin = False

def _yaw_from_quaternion(self, w, x, y, z):
sc = 2 * ((w * z) + (x * y))
cc = 1 - 2 * ((y * y) + (z * z))
yaw = math.atan2(sc, cc)
return yaw

def subscribeToOrigin(self):
self.assertIsNotNone(self.node)
self.origin_class = get_msg_class(self.node, ORIGIN_TOPIC, blocking=True)
Expand Down Expand Up @@ -86,12 +92,11 @@ def originCallback(self, msg):
latitude = msg.pose.position.y
longitude = msg.pose.position.x
altitude = msg.pose.position.z
quaternion = (msg.pose.orientation.w,
msg.pose.orientation.x,
msg.pose.orientation.y,
msg.pose.orientation.z)
euler = t3d.euler.quat2euler(quaternion)
yaw = euler[2]
yaw = self._yaw_from_quaternion(
msg.pose.orientation.w,
msg.pose.orientation.x,
msg.pose.orientation.y,
msg.pose.orientation.z)
self.assertAlmostEqual(yaw, 0)
elif self.origin_class == GPSFix:
self.node.get_logger().info("Status: %d" % msg.status.status)
Expand All @@ -110,12 +115,11 @@ def originCallback(self, msg):
latitude = msg.position.latitude
longitude = msg.position.longitude
altitude = msg.position.altitude
quaternion = [msg.pose.orientation.w,
msg.pose.orientation.x,
msg.pose.orientation.y,
msg.pose.orientation.z]
euler = t3d.euler.quat2euler(quaternion)
yaw = euler[2]
yaw = self._yaw_from_quaternion(
msg.pose.orientation.w,
msg.pose.orientation.x,
msg.pose.orientation.y,
msg.pose.orientation.z)
self.assertAlmostEqual(yaw, 0)
self.assertEqual(msg.header.frame_id, '/far_field')
if self.test_stamp:
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