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I think you are looking for the setEulerYPR and getEulerYPR functions of tf::Matrix3x3. As far as I can tell, these follow the convention you are describing.

To generate the quaternion:

//Fixed transform values
double roll, pitch, yaw;
yaw = DEGREES_TO_RADIANS(90); // 90 degrees around Z 
pitch = DEGREES_TO_RADIANS(0); // 0 degrees around new Y
roll = DEGREES_TO_RADIANS(-90); // -90 degrees around new X

//Create Matrix3x3 from Euler Angles
tf::Matrix3x3 m_rot;
m_rot.setEulerYPR(yaw, pitch, roll);

// Convert into quaternion
tf::Quaternion quat;
m_rot.getRotation(quat);

Your printEuler would then be

void printEulerAngles(tf::StampedTransform& transform){
    double roll, pitch, yaw;
    tf::Matrix3x3 m(transform.getRotation());
    int solution_number = 1;

    m.getEulerYPR(yaw, pitch, roll, solution_number);
    ROS_INFO("\nRoll    : %.3f\n"
            "Pitch  : %.3f\n"
            "Yaw    : %.3f\n",
            RADIANS_TO_DEGREES(roll), RADIANS_TO_DEGREES(pitch), RADIANS_TO_DEGREES(yaw)  );
}

However, like I wrote in your previous question, there can be multiple representations of an identical rotation, so your angles might not be the same. You can play around witht the solution_number argument of getEulerYPR() but I don't know if that will help.

Good luck.