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Translating between left handed co-ordinate system and right handed co-ordinate system?

asked 2017-02-19 12:48:17 -0500

tushar gravatar image

updated 2017-02-20 01:16:50 -0500

I have a rosbag that publishes IMU information in the left hand coordinate system but as I read in REP 103 , the coordinate systems in ros are all right handed.

How do I accomplish this transformation between the two? Do I change values published by IMU or do I publish a transform? I strongly feel that I should publish a certain transform. What does that transform look like and where can I read more about it? What are the best practices to do this? Also can one sensor be in a different co-ordinate frame than the other, how do you fix that?

Note: I am using tf2

I also found and article about this on a webpage by unity.

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answered 2018-09-20 11:39:02 -0500

seanarm gravatar image

Not to say it's correct, but I usually end up swapping axes at the source of the published data to conform to the right-handedness of the rest of the system.

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The least pain would be probably to modify the bag with the API

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-09-22 03:04:22 -0500 )edit

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Asked: 2017-02-19 12:48:17 -0500

Seen: 525 times

Last updated: Sep 20 '18