`ros_sugar.robot.mount`#

Where a sensor sits on the robot.

A Mount is a recipe-level statement: this sensor is mounted there on this robot.

Mounts only describe static transforms. A sensor with moving parts (a pan-tilt head) publishes the dynamic transform from its own base frame to the moving one itself; the recipe then only has to say where that base frame sits, and the two compose in the TF tree.

Module Contents#

Classes#

Mount

A static placement of a sensor relative to something else.

Functions#

quaternion_from_euler

Convert roll/pitch/yaw (radians) to a quaternion (x, y, z, w).

API#

ros_sugar.robot.mount.quaternion_from_euler(roll: float, pitch: float, yaw: float) → Tuple[float, float, float, float]#

Convert roll/pitch/yaw (radians) to a quaternion (x, y, z, w).

ROS transforms carry quaternions while people describe mounts in roll, pitch and yaw, so a recipe states the readable form and this converts. Rotations compose in the ROS convention: yaw about Z, then pitch about Y, then roll about X.

Parameters:

roll – Rotation about X, in radians
pitch – Rotation about Y, in radians
yaw – Rotation about Z, in radians

Returns:

Quaternion as (x, y, z, w)

Return type:

Tuple[float, float, float, float]

class ros_sugar.robot.mount.Mount#

Bases: ros_sugar.config.BaseAttrs