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Coordinate system in ROS

asked 2017-01-10 22:32:04 -0600

niubc gravatar image

ROS operates in the ENU Coordinate system(East-North-Up). In the algorithms for AUV(Autonomous Underwater Vehicles), I need North-East-Down Coordinate system. What should I do? Change TF or what?

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answered 2018-07-06 03:45:24 -0600

pavel92 gravatar image

You can always create a new static transform from ENU to NED and use that coordinate system for your AUV.
You can do that in a terminal by running:

rosrun tf static_transform_publisher 0 0 0 1.57 0 3.14 world world_ned 30

where world and world_ned are the respected ENU and NED frames.

or simply put the following inside a .launch file:

<node pkg="tf" type="static_transform_publisher" name="ned_publisher" args="0 0 0 1.57 0 3.14 world world_ned 30"/>

and use the world_ned frame for the AUV

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answered 2018-07-06 01:32:57 -0600

Musa Marcusso gravatar image

I had the same question back when I started the UUV simulator. In the end the decision was to publish a world ned frame and use it as a reference frame. At least from the simulation point of view, I modified the sensor plugins so that they could use both world and world_ned frames, and the vehicles also have base_link and base_link_ned (as in this example here). I am not sure if this is the best/easiest approach, but I couldn't find many other references in this subject.

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Asked: 2017-01-10 22:32:04 -0600

Seen: 951 times

Last updated: Jul 06 '18