Removed internally packaged (legacy) transformations.py and ported to tf_transformations

Author: tpanzarella

package.xml

@@ -16,15 +16,17 @@
   <!-- Github does not seem to allow a fork to have its own issue tracker -->
   <url type="bugtracker">https://github.com/eric-wieser/ros_numpy/issues</url>
 
-  <exec_depend>python3-numpy</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>python-transformations3d-pip</depend>
+  <depend>python3-numpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf_transformations</depend>
 
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <test_depend>python3-nose</test_depend>
   <test_depend>ament_cmake_nose</test_depend>
+  <test_depend>python3-nose</test_depend>
   <test_depend>rclpy</test_depend>
 
   <export>

ros2_numpy/geometry.py

@@ -1,5 +1,6 @@
 from .registry import converts_from_numpy, converts_to_numpy
 from geometry_msgs.msg import Transform, Vector3, Quaternion, Point, Pose
+import tf_transformations as transformations
 from . import numpify
 
 import numpy as np
@@ -65,17 +66,13 @@ def numpy_to_quat(arr):
 
 @converts_to_numpy(Transform)
 def transform_to_numpy(msg):
-    from . import transformations
-
     return np.dot(
         transformations.translation_matrix(numpify(msg.translation)),
         transformations.quaternion_matrix(numpify(msg.rotation))
     )
 
 @converts_from_numpy(Transform)
 def numpy_to_transform(arr):
-    from . import transformations
-
     shape, rest = arr.shape[:-2], arr.shape[-2:]
     assert rest == (4,4)
 
@@ -103,17 +100,13 @@ def numpy_to_transform(arr):
 
 @converts_to_numpy(Pose)
 def pose_to_numpy(msg):
-    from . import transformations
-
     return np.dot(
         transformations.translation_matrix(numpify(msg.position)),
         transformations.quaternion_matrix(numpify(msg.orientation))
     )
 
 @converts_from_numpy(Pose)
 def numpy_to_pose(arr):
-    from . import transformations
-
     shape, rest = arr.shape[:-2], arr.shape[-2:]
     assert rest == (4,4)