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hi everybody,
kindly help me out to retrieve exact turtlebot's orientation. i have used yaw to determine the orientation but when the robot move the yaw become inaccurate. the yaw command the i used is as follows:
yaw=atan2(2*(x*y+w*z), w*w + x*x - y*y - z*z);
kindly,give me an advice on how to retrieve the exact turtlebot's orientation. thank you.
If you're getting Odometry msgs, you can use the function tf::getYaw with the odometry msg directly to get the yaw.
documentation is here: http://mirror.umd.edu/roswiki/doc/dia...
tf::getYaw(odom_msg.pose.pose.orientation)
i have figure the answer for this problem. the yaw can be retrieved from turtlebot using this equation:
yaw=atan2(2*orientation.w*orientation.z), orientation.w*orientation.w - orientation.z*orientation.z);
thank you to everybody.
t1=2*(orientation.z*orientation.w-orientation.x*orientation.y)
t2=2*pow(orientation.x,2)-1+2*pow(orientation.w,2);
yaw=atan2(t1,t2);
Asked: 2014-02-09 22:52:47 -0500
Seen: 1,461 times
Last updated: May 14 '14
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