ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Mon, 05 Nov 2018 20:09:08 -0600left hand coordinate system visualization in Rvizhttps://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/I have been trying to write a tf transform from the standard ROS right handed coordinate system to left hand coordinate system , but I have been unable to achieve it. Any help would be greatly appreciated. What i tried so far is presented below.
tf::Transform tf;
tf::Matrix3x3 m(1,0,0,0,-1,0,0,0,1);
tf::Quaternion q;
m.getRotation(q);
transform.setOrigin(tf::Vector3(0,0,0));
transform.setRotation(q);
and then broadcast this trabsform
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Mon, 05 Nov 2018 08:33:52 -0600https://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/Comment by jarvisschultz for <p>I have been trying to write a tf transform from the standard ROS right handed coordinate system to left hand coordinate system , but I have been unable to achieve it. Any help would be greatly appreciated. What i tried so far is presented below.</p>
<pre><code>tf::Transform tf;
tf::Matrix3x3 m(1,0,0,0,-1,0,0,0,1);
tf::Quaternion q;
m.getRotation(q);
transform.setOrigin(tf::Vector3(0,0,0));
transform.setRotation(q);
</code></pre>
<p>and then broadcast this trabsform</p>
<hr>
https://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/?comment=307687#post-id-307687When I've run into left-handed coordinates, I've done as [this answer](https://answers.ros.org/question/255079/translating-between-left-handed-co-ordinate-system-and-right-handed-co-ordinate-system/?answer=303896#post-id-303896) says and manually swapped an axis.Mon, 05 Nov 2018 20:09:08 -0600https://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/?comment=307687#post-id-307687Comment by jarvisschultz for <p>I have been trying to write a tf transform from the standard ROS right handed coordinate system to left hand coordinate system , but I have been unable to achieve it. Any help would be greatly appreciated. What i tried so far is presented below.</p>
<pre><code>tf::Transform tf;
tf::Matrix3x3 m(1,0,0,0,-1,0,0,0,1);
tf::Quaternion q;
m.getRotation(q);
transform.setOrigin(tf::Vector3(0,0,0));
transform.setRotation(q);
</code></pre>
<p>and then broadcast this trabsform</p>
<hr>
https://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/?comment=307686#post-id-307686AFAIK, none of TF was designed to work with left-handed coordinate systems, and I would not expect broadcasting or visualization to work properly: http://www.ros.org/reps/rep-0103.html#chiralityMon, 05 Nov 2018 20:08:27 -0600https://answers.ros.org/question/307646/left-hand-coordinate-system-visualization-in-rviz/?comment=307686#post-id-307686