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autonomy_create driver yaw angle range is [2pi ~ -2pi]?

asked 2017-10-09 00:36:21 -0500

fj138696 gravatar image

updated 2017-10-09 00:37:34 -0500

Hi all

I want to compare my odometry yaw angle and imu yaw angle to understand current accuracy of my IMU. From what I get, IMU output is [pi ~ -pi] but the autonomy_create (using irobotcreate2) yaw angle output starts from 0 upto +/-2pi depending on the robot turning clockwise or anti-clockwise. is this correct?

If I can confirm autonomy_create output as [2pi ~ -2pi] I think need to change the source to match with my IMU output. I intend to run robot_localization and robot_pose_ekf in the future, but I think difference in yaw output range of my odom yaw angle and imu yaw angle will have some problem.

Thanks in advance.

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answered 2018-01-08 04:06:23 -0500

Tom Moore gravatar image

Rotations are represented as quaternions in ROS, so, for example, -pi/2 will have the same representation as 3*pi/2. As long as they are right-handed (yaw increases counter-clockwise), and they both have the same zero point, you should be fine.

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Asked: 2017-10-09 00:36:21 -0500

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Last updated: Oct 09 '17