Use TF2 package for quaternion conversion

[tedsteiner]

The OpenCV quaternion class was not added until OpenCV 4.5.1, so it's less widely available than the TF2 conversion. This change allows a source build of the ROS 2 "perception" variant on Ubuntu 20.04 without a custom source build of OpenCV.

Addresses issue #1030

[tedsteiner]

Hoping for a backport to Jazzy, as well.

[mikeferguson]

If I recall correctly, you're unable to test this, right? I can test on a robot early next week to make sure there is no change in behavior.

[tedsteiner]

If I recall correctly, you're unable to test this, right? I can test on a robot early next week to make sure there is no change in behavior.

Thanks! This isn't a code package we use so I'd really appreciate if there's a way for someone else to verify the change without too much effort.

My interpretation of the build issues is that they're CppLint issues that aren't directly related to this change. One of them is that the track_marker.hpp include should come first and the other is incorrectly thinking that the TF2 quaternion.h header is a C system library because it's not *.hpp. Just let me know if you'd like me to do anything about those.

[tedsteiner]

Just wanted to check in on this to see if you've had a chance to test it yet, and if so, whether it worked correctly. Thanks!

[mikeferguson]

I'm back from ROSCon now - will take a look at this during the week

[mikeferguson]

I've tested locally - it looks good - just need to get CI to pass

[tedsteiner]

Thank you! And would it be possible to also get this backported to Jazzy? It would save me a lot of maintenance effort.

[mikeferguson]

https://github.com/Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #1041 Use TF2 package for quaternion conversion (backport #1031) has been created for branch jazzy