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Does clockwise rotation correspond to a positive or to a negative yaw angle?

asked 2011-09-07 06:45:49 -0500

patrick_hammer gravatar image

updated 2011-09-10 23:54:33 -0500

When I rotate my robot clockwise, should the yaw be increasing or decreasing? I noticed it turns the opposite direction when running slam_mapping in rviz.

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answered 2011-09-07 07:25:25 -0500

Eric Perko gravatar image

updated 2011-09-07 07:26:53 -0500

See REP 103 for coordinate system conventions. In general, most coordinate frames follow those conventions, unless otherwise specified.

The short answer is that counter-clockwise is positive change in yaw in a frame that follows REP103 conventions.

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"By the right hand rule, the yaw component of orientation increases as the child frame rotates counter-clockwise"

AlexisTM gravatar imageAlexisTM ( 2019-03-25 05:45:09 -0500 )edit

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Asked: 2011-09-07 06:45:49 -0500

Seen: 9,773 times

Last updated: Sep 10 '11