Hi all,

I'm using stage's baseposeground_truth to simulate a device and I'm very surprised about the pose it provides, as it looks rotated pi/2 counterclockwise, relative to /map and /odom frames.

For example, in the attached capture the robot is at 8, 1, 0, but baseposeground_truth provides:

pose: 
  pose: 
    position: 
      x: 1.0
      y: -8.0666666535
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.707106781187
      w: 0.707106781187

The tf from map to odom is

- Translation: [1.000, 1.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, -0.000, 0.000]

And here is my world file.

include "topseung.inc"

# Definition for an obstacle placed on the map.
define block model
(
  size [0.5 0.5 0.5]
  gui_nose 0
)

define floorplan model
(
  # sombre, sensible, artistic
  color "gray30"

  # most maps will need a bounding box
  boundary 1

  gui_nose 0
  gui_grid 0

  gui_outline 0
  gripper_return 0
  fiducial_return 0
  laser_return 1
)

# set the resolution of the underlying raytrace model in meters
resolution 0.01

interval_sim 100  # simulation timestep in milliseconds

window
(
  size [ 1062 350 ] 

  rotate [ 0.000 0.000 ]
)

# load an environment bitmap
floorplan
( 
  name "Namsung Plaza 6th floor"
  bitmap "../maps/6th_floor_plan_test.bmp"
  size [60.11 19.81 0.5]

  pose [ 0.0 0.0 0.0 0.0 ]
  origin [25.0 7.0 0.0 0]
)

# throw in a robot
topseung
(
  pose [ 1.0 1.0 0.0 0.0 ]
  name "topseung"
  color "gray"
  gui_nose 1
)

Any idea of what's going on? I'm really puzzled...