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moma_utils

Utilities that can be shared among moma projects.

  • ros_control.py: Wrappers around various ROS control services.
  • ros_conversions.py: Various conversions to/from ROS messages.
  • transform.py: Rigid spatial transformations in Python.

Installation

Install the requirements within an activated virtual environment.

pip install -r requirements.txt

Catkin

catkin build moma_utils

Python-only

This package can also be installed as a stand-alone Python package. Note that importing some of the classes might fail due to missing ROS dependencies.

cd /path/to/moma_utils
pip install -e .