Introduction

This package contains common definitions and often-used utility functions in C++ and Python. It consist of the packages vortex_utils, vortex_utils_ros and vortex_utils_ros_tf

Usage

CMake:

find_package(vortex_utils REQUIRED)

# For ROS utils
find_package(vortex_utils_ros REQUIRED)
find_package(vortex_utils_ros_tf REQUIRED)

For cpp packages link against the target:

target_link_libraries(my_target vortex_utils)

# ROS libraries
target_link_libraries(my_target vortex_utils_ros)
# ROS tf2 transform library
target_link_libraries(my_target vortex_utils_ros_tf)

In Python, import your desired function/dataclass like for example:

from vortex_utils.python_utils import ssa

To import from vortex_utils_ros

from vortex_utils_ros.qos_profiles import sensor_data_profile, reliable_profile

In C++, include

#include <vortex/utils/math.hpp>

for mathematical functions,

#include <vortex/utils/types.hpp>

for common structs like 6DOF PoseEuler, Pose and Twist.

#include <vortex/utils/ros/qos_profiles.hpp>

for common QoS profile definitions from from vortex_utils_ros