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problem in geometry_msgs::Pose

asked 2012-03-23 04:15:26 -0500

navidnabavi gravatar image

updated 2014-01-28 17:11:43 -0500

ngrennan gravatar image

what is x, y, z and w in Quaternion oriention? specially what is w?

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answered 2012-03-23 04:25:09 -0500

Have a look at REP103 on Standard Units of Measure and Coordinate Conventions. If you're not familiar with quaternions it also helps to have a look at pages like this Wikipedia page on Quaternions and spatial rotation.

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Also for information about any message you can use the rosmsg command with the --raw option to see the comments. Or browse the online docs for the message http://ros.org/doc/electric/api/geometry_msgs/html/msg/Pose.html

Tully gravatar imageTully ( 2012-03-23 18:46:32 -0500 )edit
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answered 2012-03-23 04:25:40 -0500

michikarg gravatar image

Hi,

For representing orientation in ROS, quaternions are used. They do not represent a human-readable format like e.g. euler angles (more information about quaternions here: http://en.wikipedia.org/wiki/Quaternion ).

To easily convert between euler angles and quaternions, the tf-ROS package offers a set of functions like "createQuaternionFromYaw" or similar...

Have a look at <tf transform_datatypes.h=""> for more information.

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Asked: 2012-03-23 04:15:26 -0500

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Last updated: Mar 23 '12