ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

rxplot euler from gazebo

asked 2012-03-23 02:07:16 -0600

hmmm gravatar image

hi guys, i want to plot the orientation of my quadrotor in euler and not in quaterion. is there a opportunity (message) how i can get the angels in euler from gazebo?

thankgs,regards

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
2

answered 2012-03-23 08:33:37 -0600

I had a similar need so I wrote a simple Python node that does this for the quaternion in nav_msgs/Odometry messages. It allows you to select the Euler rotation convention and will also optionally output the Euler angles in degrees. If you want to take a look it's called quat_to_ypr.py in the starmac_tools package (starmac_common stack).

edit flag offensive delete link more
1

answered 2012-03-23 02:18:09 -0600

Lorenz gravatar image

Rotations in ROS are always communicated as Quaternions. You will need to convert them by hand. TF uses Bullet internally which has utility methods to convert to and from Euler angles. See here.

edit flag offensive delete link more

Question Tools

1 follower

Stats

Asked: 2012-03-23 02:07:16 -0600

Seen: 500 times

Last updated: Mar 23 '12