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I understand what you mean. You want to translate in the rotated frame and not the original frame. Unfortunately tf2 only works with translation and rotation being published with respect to the original frame. Because it is a transform with respect to that particular frame.
To solve your problem there are two ways:
r,p,y and then translate
in the rotated frame by a,b,c. You
should calculate the new
translational values R * {a,b,c}
where R is the rotation matrix constructed by the rotation angles.
Then you can use the tf2 package with these new values. Hope this helps!
Asked: 2017-05-02 04:44:23 -0600
Seen: 2,747 times
Last updated: May 02 '17
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Both the C++ and Python tutorials have an example of converting RPY into a quaternion and broadcasting that transform. Do you have a specific question beyond what is covered in the tutorials? C++ tutorial
Python tutorial
yes, actually i am trying to get a frame which is rotated by given rpy values and then translated, hc's solution worked for me (point 1). Thank you guys :)