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Does robot_localization merge RPY and Quaternion Orientation?

asked 2016-05-17 17:03:51 -0500

bzhan gravatar image

I was wondering whether robot_localization package merges RPY and quaternion orientation data for you (from 2 different sensors), or whether this needs to be done manually prior to sending it to the package?

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answered 2016-05-19 20:27:03 -0500

Tom Moore gravatar image

The EKF and UKF in r_l take in the message types described here. All the message types that have orientation data use quaternions. r_l doesn't support messages with RPY data, so if you only have that, you'll have to convert it.

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Asked: 2016-05-17 17:03:51 -0500

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Last updated: May 19 '16