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, 13 Sep 2022 02:46:06 -0500angular velocity wrt another framehttps://answers.ros.org/question/406338/angular-velocity-wrt-another-frame/Given an IMU message containing **orientation**, `angular_velocity` and **linear_acceleration**, if I change the **orientation** (i.e. apply a rotation), then to get the **linear_acceleration** in the new frame of reference I simply rotate the **linear_acceleration** vector by the same rotation matrix.
Does the same hold for the `angular_velocity`?
My understanding is that the `angular_velocity` found in ROS messages (IMU, twist, etc.) is expressed as time derivative of *rpy* angles, so it is not an element of a vector space. Does it make sense to multiply it by a rotation matrix to get its representation with respect to a new frame?
If `angular_velocity` was a real vector (commonly denoted as *omega*), then that process would be correct. But I'm not sure how I can apply a rotation in the case of time derivative of *rpy*.
Tue, 13 Sep 2022 02:46:06 -0500https://answers.ros.org/question/406338/angular-velocity-wrt-another-frame/