Conversion from world frame to local frame of a wheel based robot

asked 2017-04-03 02:50:49 -0500

HK gravatar image

I am fairly new to ros and robotics.

I am currently dealing with geometry_msgs/PoseWithCovarianceStamped and all pose data from sensors are written in world frame, i.e. frameId is world.

Is there any way to convert this frame to local frame in which the robot itself is at origin? What I want to do eventually is to find poses which go backwards against a destination for next step.

Please advise me about above. Thank you so much in advance.

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What have you tried so far? What tutorials have you looked at and gotten stuck with?

lindzey gravatar image lindzey  ( 2017-04-05 04:25:29 -0500 )edit

I have read Euler Angle transformation but it does not seem to give me an answer for it since it only considers local frame only?

HK gravatar image HK  ( 2017-04-10 20:21:07 -0500 )edit