pyrobosim_ros.ros_conversions

Utilities to convert between standalone pyrobosim objects and ROS representations (messages, services, etc.).

Functions

get_entity_name(entity)	Gets the name of an entity, or if a string is specified, gets the string itself.
goal_specification_from_ros(msg, world)	Uses a world object to resolve a GoalSpecification message to a list of goal literals for task and motion planning.
path_from_ros(msg)	Converts ROS path message to a pyrobosim motion Path.
path_to_ros(path)	Converts a pyrobosim motion Path to a ROS message.
pose_from_ros(msg)	Converts ROS pose message to a pyrobosim pose.
pose_to_ros(pose)	Converts a pyrobosim Pose to a ROS message.
ros_duration_to_float(ros_duration)	Converts an rclpy Duration object to a floating-point time value, in seconds.
task_action_from_ros(msg)	Converts a TaskAction ROS message to a TaskAction object.
task_action_to_ros(act)	Converts a TaskAction object to a TaskAction ROS message.
task_plan_from_ros(msg)	Converts a TaskPlan ROS message to a TaskPlan object.
task_plan_to_ros(plan)	Converts a TaskPlan object to a TaskPlan ROS message.