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rxplot euler from gazebo

asked 2012-03-23 02:07:16 -0500

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

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answered 2012-03-23 08:33:37 -0500

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).

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answered 2012-03-23 02:18:09 -0500

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.

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Asked: 2012-03-23 02:07:16 -0500

Seen: 165 times

Last updated: Mar 23 '12