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[colcon][tf2_py] fix catkin_symlink_install error in tf2_py #1

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[colcon][tf2_py] fix catkin_symlink_install error in tf2_py #1

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95943f7
add torque due to force offset
v4hn Sep 5, 2023
9b922e7
fix catkin_symlink_install error. see https://github.com/ros/geometry…
mqcmd196 Feb 23, 2024
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7 changes: 7 additions & 0 deletions tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1040,6 +1040,13 @@ void doTransform(const geometry_msgs::Wrench& t_in, geometry_msgs::Wrench& t_out
{
doTransform(t_in.force, t_out.force, transform);
doTransform(t_in.torque, t_out.torque, transform);
// add additional torque created by translating the force
tf2::Vector3 offset = {transform.transform.translation.x, transform.transform.translation.y,
transform.transform.translation.z};
tf2::Vector3 added_torque = offset.cross({t_out.force.x, t_out.force.y, t_out.force.z});
t_out.torque.x += added_torque.getX();
t_out.torque.y += added_torque.getY();
t_out.torque.z += added_torque.getZ();
}


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10 changes: 5 additions & 5 deletions tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
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Expand Up @@ -336,19 +336,19 @@ TEST(TfGeometry, doTransformWrench)
v1.torque.z = 3;

geometry_msgs::TransformStamped trafo;
trafo.transform.translation.x = -1;
trafo.transform.translation.y = 2;
trafo.transform.translation.z = -3;
trafo.transform.translation.x = 0;
trafo.transform.translation.y = -2;
trafo.transform.translation.z = 0;
trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0));

tf2::doTransform(v1, res, trafo);
EXPECT_NEAR(res.force.x, 1, EPS);
EXPECT_NEAR(res.force.y, -2, EPS);
EXPECT_NEAR(res.force.z, 3, EPS);

EXPECT_NEAR(res.torque.x, 1, EPS);
EXPECT_NEAR(res.torque.x, -5, EPS);
EXPECT_NEAR(res.torque.y, -2, EPS);
EXPECT_NEAR(res.torque.z, 3, EPS);
EXPECT_NEAR(res.torque.z, 5, EPS);
}

int main(int argc, char **argv){
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2 changes: 1 addition & 1 deletion tf2_py/CMakeLists.txt
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Expand Up @@ -144,7 +144,7 @@ set_target_properties(tf2_py PROPERTIES
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

install(FILES $<TARGET_FILE:tf2_py>
install(TARGETS tf2_py
DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
)

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