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

Alexis yeah but if im looking at the green Y axis headed toward me counterclockwise is one way and if i stand behind the coordinate frame and look at the y axis going off in the distance counterclockwise is a nother way.

Put another way if i use the right hand rule, and the middle finger is the Y axis then i can point down but that doesnt tell me clockwise or counter clockwise because from one side of my hand a yaw pointing down its moving counterclockwise and if i look from behind my palm its moving clockwise

in rviz if i place a unit circle against the 2D frame of the X and Z where X is headed off to the right.. then positive change in radians should be counterclowise but that is not the case.

juan.suero.robotics gravatar image juan.suero.robotics  ( 2022-06-12 11:45:03 -0500 )edit

From X to Y is positive. Meaning with ENU, looking from the top of earth (aka not from the ground), East to North is positive thus CCW is positive.

(Thus for NED, it is the opposite)

AlexisTM gravatar image AlexisTM  ( 2022-06-12 12:12:14 -0500 )edit

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

Seen: 12,181 times

Last updated: Sep 10 '11