invert an coordinate axis with tf
The coordinate of my robot and the bundled API is
x -> forward
y -> right
z -> down
I want to map such that my base_link is the following
x -> forward
y -> right
z -> up
(I think this is the most common base_link setup)
tf::Transform transform;
//setup transform
tf_broadcaster.sendTransform(tf::StampedTransform(transform, time, "base_link", "my_robot"));
How do I setup tf::Transform to invert the z axis? Do I use a 3x3 matrix to setup my transform to invert the axis? Possible to use the following 3x3 Matrix for the transformation? (tried using .setBasis but I got a bunch of tf warnings).
[[1,0,0],
[0,1,0],
[0,0,-1]]
My UAV uses an internal Left Handed frame (because they thought positive values for z for altitude was more intuitive). I want to switch it to Right Handed frame so that it works with ROS tf.
The UAV is left handed axis is the following.
x -> North y -> East z -> Up
A right handed setup would have z-> Down