sas_conversions

Conversions between ROS2 messages and other libraries.

• rclcpp Native implementation.
• rclpy Native implementation.

Main goodies

C++

Header	Description
sas_conversions.hpp	A convenience wrapper contaning all conversion headers.
eigen3_std_conversions.hpp	A thin wrapper around the sas_core conversion header, contaning conversions between std::vector<> and Eigen3::Matrix<>.
std_std_msgs_conversions.hpp	Conversions between plain float64 and bool and suitable ROS2 messages.
DQ_geometry_msgs_conversions.hpp	Conversions between geometry_msgs and dqrobotics elements.

Example

Running the example:

ros2 run sas_conversions sas_conversions_example_readme

Example's source code:

sas_conversions/src/examples/sas_conversions_example_readme.cpp

Lines 1 to 16 in 81cf8a7

	#include <dqrobotics/DQ.h>
	#include <geometry_msgs/msg/pose_stamped.hpp>
	#include <sas_conversions/sas_conversions.hpp>
	using namespace DQ_robotics;
	using namespace sas;
	int main(int,char**)
	{
	DQ x(1);
	auto x_msg = dq_to_geometry_msgs_pose(x);
	auto x_msg_back = geometry_msgs_pose_to_dq(x_msg);
	return 0;
	}

Python

File	Description
std_std_msgs_conversions.py	Conversions between plain float64 and bool and suitable ROS2 messages.
DQ_geometry_msgs_conversions.py	Conversions between geometry_msgs and dqrobotics elements.