search

ros2 / geometry2

A set of ROS packages for keeping track of coordinate transforms.
BSD 3-Clause "New" or "Revised" License
110 stars 193 forks source link

Split tf2_kdl and Port Python Functionality #665

Open CursedRock17 opened 3 months ago

CursedRock17 commented 3 months ago

This is meant to resolve #208 by creating a tf2_kdl_py package and moving all the python parts from tf2_kdl to it.

The PR will be good preparation for #110 as PyKDL is now available.

ahcorde commented 3 months ago

@CursedRock17 do you mind to merge with rolling ? Then I can launch the CI

CursedRock17 commented 3 months ago

@ahcorde it was rebased locally with rolling, so it should be good now.

ahcorde commented 3 months ago
ahcorde commented 3 months ago
ahcorde commented 2 months ago

Maybe the error on Windows is because PyKDL is not installed on Windows. @clalancette ?

clalancette commented 2 months ago

Maybe the error on Windows is because PyKDL is not installed on Windows. @clalancette ?

We build it from source there: https://ci.ros2.org/job/ci_windows/21434/consoleFull#console-section-182

CursedRock17 commented 2 months ago

I might be mistaken, but I feel like the CI will continuously fail and show warnings until #110 is resolved, that being said I'm working on a port right now. Would it be more beneficial to comment out the pytest since it wasn't available anyways, merge this without it, then work fresh with the port. Or rebase this branch after we've ported a solution.

clalancette commented 2 months ago

I might be mistaken, but I feel like the CI will continuously fail and show warnings until #110 is resolved, that being said I'm working on a port right now. Would it be more beneficial to comment out the pytest since it wasn't available anyways, merge this without it, then work fresh with the port. Or rebase this branch after we've ported a solution.

So I guess I'm confused; isn't the point of this PR to resolve #110? I guess if not, then what we should do is to both solve #110 and #208 in this PR simultaneously. Otherwise, there is no point to having a split tf2_kdl_py if it doesn't work.

CursedRock17 commented 2 months ago

Gotcha, the original plan was resolving just #208 but since I'm already prepping a port, I can add it to this PR. It makes it much easier this way anyway.

ahcorde commented 2 months ago

I was checking this on a Windows machine, the problem is on python_orocos_kdl_vendor on windows the PYTHONPATH is not extended, we need to patch this package first. Adding manually the path to the PYTHONPATH the test is working but failing.