topic_tools.transform module

Usage summary.

@author: enriquefernandez, Daisuke Nishimatsu Allows to take a topic or one of it fields and output it on another topic after performing a valid python operation. The operations are done on the message, which is taken in the variable ‘m’. * Examples (note that numpy is imported by default): $ ros2 run topic_tools transform /imu –field orientation.x /x_str std_msgs/String ‘std_msgs.msg.String(data=str(m))’ –import std_msgs # noqa: E501 $ ros2 run topic_tools transform /imu –field orientation.x /x_in_degrees std_msgs/Float64 ‘std_msgs.msg.Float64(data=-numpy.rad2deg(m))’ –import std_msgs numpy # noqa: E501 $ ros2 run topic_tools transform /imu –field orientation /norm std_msgs/Float64 ‘std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))’ –import std_msgs numpy # noqa: E501 $ ros2 run topic_tools transform /imu –field orientation /norm std_msgs/Float64 ‘std_msgs.msg.Float64(data=numpy.linalg.norm([m.x, m.y, m.z, m.w]))’ –import std_msgs numpy # noqa: E501

class topic_tools.transform.Transform(*args: Any, **kwargs: Any)

Bases: Node

callback(m)

choose_qos(args, topic_name)

topic_tools.transform.main(argv=['/tmp/ws/docs_build/topic_tools/topic_tools/wrapped_sphinx_directory', '/tmp/ws/docs_build/topic_tools/topic_tools/wrapped_sphinx_directory/sphinx_output'])