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roll, pitch, yaw using tags

asked 2017-10-23 06:20:00 -0500

oha gravatar image

Hi all, I am trying to get an ardrone to fly by getting directions from tags. I am having problems correcting my roll, pitch and yaw, To be honest my code is based off of someone else, and I am not sure I understand it properly, but basically when I detect a tag (using ar_track_alvar) I then run the command:

 roll, pitch, yaw = euler_from_quaternion([data.pose.orientation.x, data.pose.orientation.y,    data.pose.orientation.z, data.pose.orientation.w])

I was hoping this would give me the roll, pitch and yaw with respect to the tag but the results I am getting don't make any sense. My roll and yaw are always either ~3.14 or ~-3,14 (roll and yaw aren't identical, one might be positive and the other negative, but they both get those values) My pitch is mostly between 0.2 and -0.2.

I could not figure out any correlation between my drones orientation and the roll, pitch and yaw I am getting, so I am assuming I am doing something completely wrong, but if Im somehow making sense then any help as to how to correct myself would be greatly appreciated.

If there is a better way to go about it I am open to suggestions.

Thanks for any help available!

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my guess is that you're not getting the transform between the ardrone and the tag but the transform between the tag and some other coordinate system. I assume you've checked output_frame and tf tree for problems?

mcevoyandy gravatar imagemcevoyandy ( 2017-10-23 23:53:20 -0500 )edit

I just realized I forgot to mention what worked for me. I actually don't know what happened, but I left the project for 2 months and coming back the coordinate systems just made sense.. One thing I did notice is that the ardrone takes care of roll and yaw by itself, and I only needed to change pitch

oha gravatar imageoha ( 2018-03-13 01:52:36 -0500 )edit

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answered 2018-03-25 07:55:31 -0500

oha gravatar image

I just realized I forgot to mention what worked for me. I actually don't know what happened, but I left the project for 2 months and coming back the coordinate systems just made sense.. One thing I did notice is that the ardrone takes care of roll and yaw by itself, and I only needed to change pitch

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Asked: 2017-10-23 06:20:00 -0500

Seen: 157 times

Last updated: Mar 25 '18