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Rotation in static transform publisher

asked 2012-01-25 18:43:16 -0500

alfa_80 gravatar image

updated 2012-01-25 19:00:29 -0500

This is a basic question. I'm a little bit confused how should I assign one of my last three argument below in order to flip or rotate by 180 degree of the z-axis of the parent frame while the other axis remains unchanged. I mean, the z-axis of the frames are opposite in their directions. I wonder if, there is any possibility that I can simply negate the value of the z-axis. The problem I'm currently having is that, if I apply/set a rotation of 180 deg(in which 3.142) about y-axis, then, x-axis will be negated and the same goes to if a apply it about x-axis.

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"  
  args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser  40" />

Thanks in advance.

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answered 2012-01-25 19:29:20 -0500

dornhege gravatar image

You cannot do that.

The reason is that when you just flip the z-axis you will transform a right-handed into a left-handed coordinate system, thus not having a simple euclidian transform, but actually a mirroring.

The other question would be: Why do you want to do that? Judging from the name, you just want a base link to laser transform, which shouldn't require this. Maybe you just got the wrong idea about how you want to transform?

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Oh really, there's no way at all. The idea is to specify the laser frame with respect to the base_link.
alfa_80 gravatar imagealfa_80 ( 2012-01-25 20:31:00 -0500 )edit
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Yes, but I think you have the wrong idea of what you want to do. Switching only one axis would mean that the physical laser is mirrored, which is impossible. If you have a photo or drawing of your robot/the frames involved, it should be simple to give you the correct transform.
dornhege gravatar imagedornhege ( 2012-01-26 01:41:50 -0500 )edit

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Asked: 2012-01-25 18:43:16 -0500

Seen: 1,490 times

Last updated: Jan 25 '12