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if you want to use only yaw , first you have to convert quarternian to eurl angle and then convert yaw in quarternian then publish msg . you can use something like this code:

  float yaw;
  tf::Quaternion robot_imu;
  robot_imu.setX(msg->orientation.x);
  robot_imu.setY(msg->orientation.y);
  robot_imu.setZ(msg->orientation.z);
  robot_imu.setW(msg->orientation.w);
  yaw_ = tf::getYaw(robot_imu);
  tf::Quaternion yaw(tf::createQuaternionFromYaw(yaw));

you can't simply set x and y to zero.

if you want to use only yaw , first you have to convert quarternian to eurl angle and then convert yaw in quarternian then publish msg . you can use something like this code:

  float yaw;
  tf::Quaternion robot_imu;
  robot_imu.setX(msg->orientation.x);
  robot_imu.setY(msg->orientation.y);
  robot_imu.setZ(msg->orientation.z);
  robot_imu.setW(msg->orientation.w);
  yaw_ = tf::getYaw(robot_imu);
  tf::Quaternion yaw(tf::createQuaternionFromYaw(yaw));
yaw(tf::createQuaternionFromYaw(yaw_));

you can't simply set x and y to zero.