Fix bugs in hand-eye-calibration script and ROS2 compatibility layer#147
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Fix bugs in hand-eye-calibration script and ROS2 compatibility layer#147
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Replace the original compatibility function with duration_from_seconds. Reminder: This function returns a numeric value for ROS2, because there the Duration type is not (yet) supported in messages. The Duration keyword is now again available in the namespace. * Implement add and sub functions for durations, because ROS2 does not support them yet. * Implement helper function duration_to_seconds becuase ROS2 durations only return nanoseconds. ROS1: * Sleep accepts both numeric values and Duration objects * Arithmetic on Time objects results in Duration objects * Arithmetic on Duration objects results in Duration objects ROS2: * Sleep not existing, implemented in our ros2.py * Arithmetic on Time objects results in Duration objects * Arithmetic on Duration objects not implemented yet * Overloads implemented in rclpy #1387 (next release)
saierd
approved these changes
Jan 30, 2026
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Fixes https://community.ensenso.com/t/ros2-hand-eye-calibration/2037.