ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

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

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.

edit retag close merge delete

Sort by » oldest newest most voted

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.

more

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

( 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.

( 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)

( 2022-06-12 12:12:14 -0500 )edit