Open EricCousineau-TRI opened 1 year ago
Made an upstream ticket for ROS messages to be typecastable from python to C++ : https://github.com/ros2/rosidl/issues/723
Update :
geometry_conversions.h
. Eigen matrices are bound to numpy matrices in simple cases, and as pydrake.common.eigen_geometry.Quaternion
for cases where numpy does not have an equivalent data structure.@EricCousineau-TRI For pointclouds, IIUC, we need a conversion between the python and C++ ros message type (using something more efficient then serializing-deserializing) and then between the C++ pointcloud message and drake C++ type, right ?
If I look at geometry_conversions
, what we are doing for say quaternion
is :
Assuming we want the same for pointclouds, this would require 2 conversions :
PointCloud
& PointCloud2
message <-> drake::perception::PointCloud
PointCloud
& PointCloud2
<-> Python equivalents, not using serialization, but something more efficient.
Follow-up to #153.
This is primarily in service of ROS 2 development in Anzu. Integration with Drake is a close second, though. We should either provide these here, or as a package in this workspace.
We should provide both C++ and Python conversions, and exercise them.
geometry_conversions.h
(either bindings, or reimplementations)\cc @IanTheEngineer @sloretz