RASG Supporting Tools API Reference

rviz_marker_publisher.pose_tools module

A supporting module rviz_marker_publisher.

rviz_marker_publisher.pose_tools.list_to_pose(pose) → geometry_msgs.msg.Pose

Convert a pose in xyzrpy or xyzq format to Pose.

Parameters:

pose – s pose in a list format of xyzrpy or xyzq

Returns:

a Pose object with the same pose

rviz_marker_publisher.pose_tools.list_to_pose_stamped(pose: list[float], frame: str, rostime: rclpy.time.Time = None) → geometry_msgs.msg.PoseStamped

Convert a pose in xyzrpy or xyzq format in a reference frame to PoseStamped.

Parameters:

  • pose – a pose in a list format of xyzrpy or xyzq

  • frame – the reference frame of type str

  • rostime – the current ros time, or None if a simulated time is used

Returns:

a Pose object with the same pose

rviz_marker_publisher.pose_tools.list_to_xyzq(pose) → list

Convert a pose in xyzrpy or xyzq format to xyzq format.

Parameters:

pose – a pose in a list format of xyzrpy or xyzq

Returns:

a list of the format xyzqqqq with the same pose

rviz_marker_publisher.pose_tools.list_to_xyzrpy(pose) → list

Convert a pose in xyzrpy or xyzq format to xyzrpy format.

Parameters:

pose – a pose in a list format of xyzrpy or xyzq

Returns:

a list of the format xyzrpy with the same pose

rviz_marker_publisher.pose_tools.pose_stamped_to_point_stamped(pose_stamped: geometry_msgs.msg.PoseStamped) → geometry_msgs.msg.PointStamped

Convert a PoseStamped object into PointStamped object.

rviz_marker_publisher.pose_tools.pose_stamped_to_transform_stamped(pose_stamped: geometry_msgs.msg.PoseStamped, reference_frame: str) → geometry_msgs.msg.TransformStamped

Convert a PoseStamped object into TransformStamped object.

rviz_marker_publisher.pose_tools.pose_to_xyzq(pose) → list

Convert a pose in Pose or PoseStamped format to xyzq format.

Parameters:

pose – the pose of type Pose or PoseStamped

Returns:

a list of the format xyzqqqq with the same pose

rviz_marker_publisher.pose_tools.pose_to_xyzrpy(pose) → list

Convert a pose in Pose or PoseStamped format into xyzrpy format.

Parameters:

pose – the pose of type Pose or PoseStamped

Returns:

a list of the format xyzrpy with the same pose

rviz_marker_publisher.pose_tools.same_joint_values_with_tolerence(joint_values_1: list, joint_values_2: list, tolerance: float = 0.1) → bool

Test if the two sets of joint values are the same.

Parameters:

  • joint_values_1 (list) – the first set of joint_values

  • joint_values_2 (list) – the second set of joint values

  • tolerance (float) – the absolute tolerance for the comparison

Returns:

True if the two sets of joint values are deemed the same

Return type:

bool

rviz_marker_publisher.pose_tools.same_pose_with_tolerence(pose_1, pose_2, tolerance: float = 0.01) → bool

Test if two poses are the same within a tolerance of each other.

Parameters:

  • goal (A list of floats or a Pose) – A pose

  • actual (A list of floats or a Pose) – another pose

  • tolerance (float) – the absolute tolerance for the comparison

Returns:

True if the goal and actual are the same

Return type:

bool

rviz_marker_publisher.pose_tools.same_rpy_with_tolerence(rpy_1: list, rpy_2: list, tolerance: float = 0.01) → bool

Test if two euler’s angles are the same.

Parameters:

  • rpy_1 (list) – the first orientation in euler’s angle

  • rpy_2 (list) – the second orientation in euler’s angle

  • tolerance (float) – the absolute tolerance for the comparison

Returns:

True if the two orientations are deemed the same

Return type:

bool

rviz_marker_publisher.pose_tools.same_xyz_with_tolerence(xyz_1: list, xyz_2: list, tolerance: float = 0.01) → bool

Test if two positions are the same.

Parameters:

  • xyz_1 (list) – the first position in xyz

  • xyz_2 (list) – the second position in xyz

  • tolerance (float) – the absolute tolerance for the comparison

Returns:

True if the two orientations are deemed the same

Return type:

bool

rviz_marker_publisher.pose_tools.transform_to_pose_stamped(transform_stamped: geometry_msgs.msg.TransformStamped) → geometry_msgs.msg.PoseStamped

Convert a TransformStamped object into PoseStamped object. An alternative implementation.

rviz_marker_publisher.logging_tools module

A supporting module for rviz_marker_publisher.

class rviz_marker_publisher.logging_tools.TimeLogger

Bases: object

Log the amount of time taken in a profiling task.

append_results_to_csv(id: str, csv_file: str) → None

APpend the timing results to the end of the csv file.

Parameters:

  • id (str) – The id to be added

  • csv_file (str) – the csv file where the results are stored

get_time_since_start() → float

Return the time since the start.

Returns:

the time since the start in seconds

Return type:

float

take(name: str)

Take the time.

Parameters:

name (str) – the name attached to the timestamp

rviz_marker_publisher.logging_tools.get_logger(name='rviz_marker_publisher', level: int = 20, silent: bool = False, logging_file: str | None = None, logging_file_level: int | None = None) → Logger

Create or get an existing logger givne the name and optionally the level, slient mode, and whether the log is written to a file.

Parameters:

  • name (str, optional) – the name of the logger, defaults to DEFAULT_LOGGER_NAME

  • level (int, optional) – the logging level, defaults to logging.INFO

  • silent (bool, optional) – if True, no display on the screen, defaults to False

  • logging_file (str, optional) – if provided, the log messages are also written to a log file given in this parameter, defaults to None

  • logging_file_level (int, optional) – the logging level of messages to be written to a log file, defaults to None

Returns:

an instance of the logger

Return type:

logging.Logger