ros_sugar.tf

ROS TF Listener

Module Contents

Classes

TFListenerConfig	TF listener config
TFListener	ROS TF listener class to lookup a transformation and execute it

API

class ros_sugar.tf.TFListenerConfig

Bases: ros_sugar.config.BaseAttrs

TF listener config

class ros_sugar.tf.TFListener(tf_config: Optional[ros_sugar.tf.TFListenerConfig] = None, node_name: str = '')

ROS TF listener class to lookup a transformation and execute it

property translation: Optional[numpy.ndarray]

Getter of transform listener TF translation as numpy array

Returns:

Translation vector

Return type:

Optional[np.ndarray]

property rotation: Optional[numpy.ndarray]

Getter of transform listener TF rotation as numpy array

Returns:

Rotation Quaternion vector

Return type:

Optional[np.ndarray]

property tf_buffer

Getter of transform listener TF buffer

Returns:

Return type:

Buffer

set_listener(tf_listener: tf2_ros.transform_listener.TransformListener)

Set the TF listener created in the node

Parameters:

tf_listener (TransformListener) – Node transform listener

property timer: Optional[rclpy.timer.Timer]

Timer used for the transformation lookup

Returns:

Return type:

Timer

timer_callback()

Timer callback to performe the requested transformation lookup

check_tf() → bool

Check if the transform is found

Returns:

Transform lookup found

Return type:

bool