ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |

The site is read-only. Please transition to use Robotics Stack Exchange

1 | initial version |

The first syntax is using Euler angles, and the second syntax is using Quaternions. They are just two different methods of representing the angular orientation of one frame relative to another. Typically Euler angles are convenient and easier to imagine, but Quaternions are more robust (e.g., pointing straight up or straight down), which is important in some specific situations. But if you're just specifying a static transformation from one frame to another, odds are you'd be fine with Euler angles, and it's more comprehensible for the next person that comes along and tries to understand the launch file.

2 | No.2 Revision |

The first syntax is using Euler angles, and the second syntax is using Quaternions. They are just two different methods of representing the angular orientation of one frame relative to another. Typically Euler angles are convenient and easier to imagine, but Quaternions are more robust for numerical integration (e.g., when transitioning through pointing straight up or straight down), which is important in some specific situations.

But if you're just specifying a static transformation from one frame to another, ~~odds are you'd ~~you'll probably be fine with Euler angles, and ~~it's ~~they are more comprehensible for the next person that comes along and tries to understand the launch file.

3 | No.3 Revision |

The first syntax is using Euler ~~angles, ~~Angles, and the second syntax is using ~~Quaternions. ~~Quaternions. They are just two different methods of representing the angular orientation of one frame relative to another. Typically Euler angles are convenient and easier to imagine, but Quaternions are more robust for numerical integration (e.g., when transitioning through pointing straight up or straight down), which is important in some specific situations.

But if you're just specifying a static transformation from one frame to another, you'll probably be fine with Euler angles, and they are more comprehensible for the next person that comes along and tries to understand the launch file.

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.