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Hi,

For representing orientation in ROS, quaternions are used. They do not represent a human-readable format like e.g. euler angles (more information about quaternions here: http://en.wikipedia.org/wiki/Quaternion ).

To easily convert between euler angles and quaternions, the tf-ROS package offers a set of functions like "createQuaternionFromYaw" or similar...

Have a look at <tf transform_datatypes.h=""> for more information.