Reference

Array manipulation

criutils.array.unique(data)

Find the unique elements of an array row-wise and returns the sorted unique elements of an array.

Parameters:

data: array_like :

Input array.

Returns:

res: array_like :

The sorted unique array.

Conversions

criutils.conversions.from_dict(transform_dict)

Converts a dictionary with the fields rotation and translation into a homogeneous transformation.

Parameters:

transform_dict: dict :

The dictionary to be converted

Returns:

array: array_like :

The resulting numpy array

criutils.conversions.from_point(msg)

Convert a geometry_msgs/Point ROS message into a numpy array.

Parameters:

msg: geometry_msgs/Point :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.from_pose(msg)

Convert a geometry_msgs/Pose ROS message into a numpy array (4x4 homogeneous transformation).

Parameters:

msg: geometry_msgs/Pose :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.from_quaternion(msg)

Convert a geometry_msgs/Quaternion ROS message into a numpy array.

Parameters:

msg: geometry_msgs/Quaternion :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.from_roi(msg)

Convert a sensor_msgs/RegionOfInterest ROS message into a list with the two corners of the ROI.

Parameters:

msg: sensor_msgs/RegionOfInterest :

The ROS message to be converted

Returns:

result: list :

The resulting list

criutils.conversions.from_transform(msg)

Convert a geometry_msgs/Transform ROS message into a numpy array (4x4 homogeneous transformation).

Parameters:

msg: geometry_msgs/Transform :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.from_vector3(msg)

Convert a geometry_msgs/Vector3 ROS message into a numpy array.

Parameters:

msg: geometry_msgs/Vector3 :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.from_wrench(msg)

Convert a geometry_msgs/Wrench ROS message into a numpy array.

Parameters:

msg: geometry_msgs/Wrench :

The ROS message to be converted

Returns:

array: np.array :

The resulting numpy array

criutils.conversions.to_point(array)

Convert a numpy array XYZ into a geometry_msgs/Point ROS message.

Parameters:

array: np.array :

The position XYZ as numpy array

Returns:

msg: geometry_msgs/Point :

The resulting ROS message

criutils.conversions.to_pose(T)

Convert a homogeneous transformation (4x4) into a geometry_msgs/Pose ROS message.

Parameters:

T: np.array :

The homogeneous transformation

Returns:

msg: geometry_msgs/Pose :

The resulting ROS message

criutils.conversions.to_quaternion(array)

Convert a numpy array WXYZ into a geometry_msgs/Quaternion ROS message.

Parameters:

array: np.array :

The quaternion XYZW as numpy array

Returns:

msg: geometry_msgs/Quaternion :

The resulting ROS message

criutils.conversions.to_roi(top_left, bottom_right)

Generate a sensor_msgs/RegionOfInterest ROS message using the two given corners

Parameters:

top_left: array_like :

The top left corner of the ROI

bottom_right: array_like :

The bottom right corner of the ROI

Returns:

msg: sensor_msgs/RegionOfInterest :

The resulting ROS message

criutils.conversions.to_transform(T)

Convert a homogeneous transformation (4x4) into a geometry_msgs/Transform ROS message.

Parameters:

T: np.array :

The homogeneous transformation

Returns:

msg: geometry_msgs/Transform :

The resulting ROS message

criutils.conversions.to_vector3(array)

Convert a numpy array XYZ into a geometry_msgs/Vector3 ROS message.

Parameters:

array: array_like :

The vector XYZ as numpy array

Returns:

msg: geometry_msgs/Vector3 :

The resulting ROS message

criutils.conversions.to_wrench(array)

Convert a numpy array into a geometry_msgs/Wrench ROS message.

Parameters:

array: array_like :

The wrench \([f_x, f_y, f_z, t_x, t_y, t_z]\) as numpy array

Returns:

msg: geometry_msgs/Wrench :

The resulting ROS message

Logger

class criutils.logger.ColoredFormatter(formatter)

Bases: logging.Formatter

A formatter that allows colors to be placed in the format string.

Intended to help in creating more readable logging output.

format(record)

Customize the message format based on the log level.

criutils.logger.initialize_logging(spammy_level=30, format_level=10)

Initialize and configure loggers to disable spammy and ROS loggers

Parameters:

spammy_level: int :

Spammy and ROS loggers below this logging level are disabled. Default: logging.WARNING

format_level: int :

Logging level to be use for this logger Default: logging.DEBUG

Returns:

base_logger: logging.RootLogger :

The base/root logger

criutils.logger.remove_ros_logger()

Remove ROS logger

Parameter Server

criutils.parameter.read_parameter(name, default)

Get a parameter from the ROS parameter server. If it’s not found, a warning is printed.

Parameters:

name: string :

Parameter name

default: Object :

Default value for the parameter. The type of the default object defines the type of the parameter

Returns:

value: Object :

If found, the read parameter. Otherwise, default is returned.

RViz

criutils.rviz.create_interactive_6dof(name, color=(1, 0, 0, 1), frame_id='base_link', transform=None, scale=0.05)

Create a 6-DoF interactive marker

Parameters:

name: string :

Marker name

color: array_like :

Marker color is a 4 elements iterable to be used as RGBA color

frame_id: str :

Reference frame of the marker frame. This a frame that must exist in TF

transform: array_like :

Homogenous transformation (4x4) of the marker with respect to the reference frame frame_id

scale: float :

Scale of the marker applied before the position/orientation.

Returns:

int_marker: visualization_msgs.InteractiveMarker :

The 6-DoF interactive marker

criutils.rviz.create_interactive_mesh(name, resource, color=(1, 0, 0, 1), frame_id='base_link', transform=None, scale=1.0)

Create an interactive marker which includes a mesh

Parameters:

name: string :

Marker name

resource: string :

The format is the URI-form used by resource_retriever, including the package:// syntax.

color: array_like :

Marker color is a 4 elements iterable to be used as RGBA color

frame_id: str :

Reference frame of the marker frame. This a frame that must exist in TF

transform: array_like :

Homogenous transformation (4x4) of the marker with respect to the reference frame frame_id

scale: float :

Scale of the marker applied before the position/orientation.

Returns:

int_marker: visualization_msgs.InteractiveMarker :

The interactive mesh marker

criutils.rviz.create_mesh_marker(mrkid, name, resource, color=(1, 0, 0, 1), ns='', frame_id='base_link', transform=None, scale=1)

Create a mesh marker

Parameters:

mrkid: int :

Unique id assigned to this marker. It is your responsibility to keep these unique within your namespace.

name: string :

Marker name

resource: string :

The format is the URI-form used by resource_retriever, including the package:// syntax.

color: array_like :

Marker color is a 4 elements iterable to be used as RGBA color

ns: str :

Namespace for these markers. This plus the mrkid form a unique identifier.

frame_id: str :

Reference frame of the marker frame. This a frame that must exist in TF

transform: array_like :

Homogenous transformation (4x4) of the marker with respect to the reference frame frame_id

scale: float :

Scale of the marker applied before the position/orientation.

Returns:

marker: visualization_msgs.Marker :

The mesh marker

criutils.rviz.create_points_marker(mrkid, points, size=0.001, color=(1, 0, 0, 1), ns='', frame_id='base_link', transform=None)

Create a marker of points

Parameters:

mrkid: int :

Unique id assigned to this marker. It is your responsibility to keep these unique within your namespace.

points: list :

The list of XYZ points

size: float :

Point width and height (pixels)

color: array_like :

Marker color is a 4 elements iterable to be used as RGBA color

ns: str :

Namespace for these markers. This plus the mrkid form a unique identifier.

frame_id: str :

Reference frame of the marker frame. This a frame that must exist in TF

transform: array_like :

Homogenous transformation (4x4) of the marker with respect to the reference frame frame_id

Returns:

marker: visualization_msgs.Marker :

The marker of points

criutils.rviz.create_text_marker(mrkid, text, size=0.02, color=(1, 0, 0, 1), ns='', frame_id='base_link', position=None)

Create a text marker. The text always appears oriented correctly to the view.

Parameters:

mrkid: int :

Unique id assigned to this marker. It is your responsibility to keep these unique within your namespace.

text: string :

The marker text

size: float :

Specifies the height of an uppercase “A” (meters)

color: array_like :

Marker color is a 4 elements iterable to be used as RGBA color

ns: str :

Namespace for these markers. This plus the mrkid form a unique identifier.

frame_id: str :

Reference frame of the marker frame. This a frame that must exist in TF

position: array_like :

XYZ position of the text marker with respect to the reference frame frame_id. If it’s not indicated, the text will be place at \([0, 0, 0]\)

Returns:

marker: visualization_msgs.Marker :

The text marker

criutils.rviz.get_safe_stamp()

Get a safe stamp.

It’s useful when ROS time hasn’t been initialized then this will return a rospy.Time equal to zero.

Returns:

stamp: rospy.Time :

The safe stamp