Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

What format you store the angular positions in does not change the wrapping problem on a unit circle. You need to have an algorithm which computes wrapping the appropriate way for your applications.

The angles has some of the most common algorithms for this. In particular I suggest you look at the shortet_angular_distance method.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.