I made some changes to the use of PROJ in utm_utils.cpp, as a team member had noticed that there were problems with the toLatLon() calculations.
I also added the tests back in for ROS 2 (with some of this work having been done by @rjb0026). Some of the transform manager tests are failing, but the plan is that corrections to the relevant source code can be made in a separate PR.
In order to port the initialize_origin python tests to ROS 2, I installed a pip module and the external tf_transformations ROS 2 package so that the ROS 2 version of quaternion_to_euler() could be used. If we want to avoid such external dependencies, I can attempt to do those calculations another way. (This package also might only be available as of Humble, so it wouldn't work in EOL distros.)
I made some changes to the use of
PROJinutm_utils.cpp, as a team member had noticed that there were problems with thetoLatLon()calculations.I also added the tests back in for ROS 2 (with some of this work having been done by @rjb0026). Some of the transform manager tests are failing, but the plan is that corrections to the relevant source code can be made in a separate PR.
In order to port the
initialize_originpython tests to ROS 2, I installed a pip module and the external tf_transformations ROS 2 package so that the ROS 2 version ofquaternion_to_euler()could be used. If we want to avoid such external dependencies, I can attempt to do those calculations another way. (This package also might only be available as of Humble, so it wouldn't work in EOL distros.)