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How to get rotaion matrix or quaternion?

asked 2014-11-23 11:19:11 -0600

karen0603 gravatar image

Hello all, I am doing some arm planning about my robot. I have a point B(x2,y2,z2) in space where I want the end-effector A(x1,y1,z1) to go.

In my opinion, I had better get the quaternion of point B first, then get the IK using point B and quaternion, after that I can use arm_navigation_msgs::GetMotionPlan to do a plan.

but I am unsure how to produce the quaternions.

or any other good method to plan end-effector from A to B?

Thanks in advance.

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answered 2014-11-23 12:42:40 -0600

Bhargav gravatar image

updated 2014-11-23 13:44:27 -0600

tfoote gravatar image

May be this link will be helpful. You will have to use createquaternion function in tf namespace.

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Thank you very much, I will try.

karen0603 gravatar image karen0603  ( 2014-11-23 13:03:21 -0600 )edit

I saw function:
static tf::Quaternion tf::createQuaternionFromRPY ( double roll, double pitch, double yaw
) [inline, static] I need first get roll, pitch, yaw, do you think there is a function in ROS which I can get roll, pitch ,yaw? Thank you

karen0603 gravatar image karen0603  ( 2014-11-23 13:10:31 -0600 )edit
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Thanks for your answer. This link text is helpful. I have to get roll,pitch,yaw at the point B first, and then use the function what you have suggested to get quaternion.

karen0603 gravatar image karen0603  ( 2014-11-23 20:51:49 -0600 )edit

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Asked: 2014-11-23 11:19:11 -0600

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Last updated: Nov 23 '14