Added test for quat convention

Author: tpanzarella

CHANGELOG.rst

@@ -1,4 +1,13 @@
-2.0.3 2020-07-12
-----------------
+2.0.4 (2021-11-02)
+------------------
+* Modified transformations.py for quaternion convention (`#2 <https://github.com/Box-Robotics/ros2_numpy/pull/2>`_)
+* Added a test case for the quaternion convention
+* Fixed rosdep dependencies in package.xml
+* Contributors: Asil Orgen, Tom Panzarella
+
+
+2.0.3 (2020-07-12)
+------------------
 * Renamed fork to ``ros2_numpy``
 * Start tracking changes in CHANGELOG at 2.0.3
+* Contributors: Tom Panzarella

CMakeLists.txt

@@ -17,6 +17,7 @@ if(BUILD_TESTING)
   ament_add_nose_test(images test/test_images.py)
   ament_add_nose_test(occupancygrids test/test_occupancygrids.py)
   ament_add_nose_test(geometry test/test_geometry.py)
+  ament_add_nose_test(quaternions test/test_quat.py)
 endif()
 
 ##############

package.xml

@@ -4,7 +4,7 @@
 <package format="3">
   <name>ros2_numpy</name>
   <!-- MAJOR is 2 for ROS2 version -->
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>A collection of conversion functions for extracting numpy arrays from messages</description>
 
   <author email="wieser@mit.edu">Eric Wieser</author>
@@ -21,7 +21,6 @@
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
 
-  <buildtool_depend>ament</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <test_depend>python3-nose</test_depend>

test/test_quat.py

@@ -0,0 +1,18 @@
+import unittest
+import numpy as np
+import geometry_msgs
+
+import ros2_numpy as rnp
+import ros2_numpy.transformations as trans
+
+class TestQuat(unittest.TestCase):
+    def test_representation(self):
+        q = trans.quaternion_from_euler(0., 0., 0.)
+        self.assertTrue(np.allclose(q, np.array([0., 0., 0., 1.])))
+
+    def test_identity_transform(self):
+        H = rnp.numpify(geometry_msgs.msg.Transform())
+        self.assertTrue(np.allclose(H, np.eye(4)))
+
+if __name__ == '__main__':
+    unittest.main()