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 3.0Tue, 05 Mar 2019 05:51:09 -0600Quaternion to angular velocityhttps://answers.ros.org/question/317510/quaternion-to-angular-velocity/Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz.
Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion.
please, help.Tue, 05 Mar 2019 02:54:08 -0600https://answers.ros.org/question/317510/quaternion-to-angular-velocity/Comment by gvdhoorn for <p>Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz.
Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion.
please, help.</p>
https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317521#post-id-317521A [quaternion](http://wiki.ros.org/tf2/Tutorials/Quaternions) encodes an orientation, not a velocity afaik. Are you differentiating things?Tue, 05 Mar 2019 03:39:54 -0600https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317521#post-id-317521Comment by KoraAi for <p>Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz.
Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion.
please, help.</p>
https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317552#post-id-317552Specifically, this led me to the fact that from my model in V-rep, the non-exact angular_velocity values are displayed, although I use it to poll sensors (accelerometer and horoscope). regular Api simGetObjectVelocityTue, 05 Mar 2019 05:51:09 -0600https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317552#post-id-317552Comment by KoraAi for <p>Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz.
Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion.
please, help.</p>
https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317551#post-id-317551I found math functions to convert quaternion to angular velocity. W = dR / dt
dR = R1 * R0 ^ -1
where R1 matrix3x3 is derived from the current quaternion, R0 ^ -1 matrix3x3 inverse from the previous quaternion, dt is the period between the current and the previous quaternions. Now I try to implementTue, 05 Mar 2019 05:50:43 -0600https://answers.ros.org/question/317510/quaternion-to-angular-velocity/?comment=317551#post-id-317551