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Get robot position und orientation (in degree) from TF

asked 2016-08-10 10:55:13 -0500

SeanAda gravatar image

updated 2016-08-12 07:18:47 -0500

Airuno2L gravatar image

Hi,

I want to get the Position (x, y) and the orientation from my robot. The position should be relative to the map TF. Therefore I used a TransformListener:

tf::StampedTransform transform_bot;
tf::TransformListener listener;

listener.lookupTransform("/map", "/base_footprint", ros::Time(0), transform_bot);

bot_x = transform_bot.getOrigin().x();
bot_y = transform_bot.getOrigin().y();

double roll, pitch, yaw;
transform_bot.getBasis().getRPY(roll, pitch, yaw);

bot_dir = yaw * 180.0 / PI;

ROS_INFO("Bot X: %f", bot_x);
ROS_INFO("Bot Y: %f", bot_y);
ROS_INFO("Bot Z: %f", bot_dir);

So far I was not able to get good result with this solution...

Do you have any ideas, how to solve the problem?

Thank you, Sebastian

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answered 2016-08-11 12:18:15 -0500

Airuno2L gravatar image

I'm not sure that getBasis does what you think, I could be wrong though. I would try using getRotation which returns a quaternion, then grabbing the yaw from that.

tf::Quaternion q = transform_bot.getRotation(); 
double yaw = tf::getYaw(q);

Here is the getYaw documentation.

If that doesn't solve things could you edit your answer and describe what results you're observing with your current code?

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Asked: 2016-08-10 10:55:13 -0500

Seen: 2,607 times

Last updated: Aug 11 '16