search

ros-perception / calibration

Provides a toolchain to calibrate sensors and URDF robot models.
http://www.ros.org/wiki/calibration
33 stars 30 forks source link

PyKDL does not provide RPY function #39

Closed garaemon closed 9 years ago

garaemon commented 9 years ago

On my environment, PyKDL does not provide RPY function and this latest commit does not work.

hydro, ubuntu 12.04, kdl is ros-hydro-orocos-kdl-1.3.0-0precise-20140819-1746-+0000

Traceback (most recent call last):
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/multi_step_cov_estimator.py",
line 309, in <module>
    robot_params = UrdfParams(robot_description, config)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py",
line 103, in __init__
    self.configure(urdf, config)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py",
line 137, in configure
    rot = RPY_to_angle_axis(rot)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/single_transform.py",
line 110, in RPY_to_angle_axis
    quat = rpy_to_quat(vec)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/single_transform.py",
line 118, in rpy_to_quat
    PyKDL.RPY(rpy[0], rpy[1], rpy[2]).GetQuaternion(q[0], q[1], q[2], q[3])
AttributeError: 'module' object has no attribute 'RPY'
Estimator exited prematurely with error code [1]
vrabaud commented 9 years ago

thx ! I had totally misread the PyKDL API