Message for publishing roll, pitch, yaw without converting to quaternion
Hi there,
I have been looking for a way to publish roll, pitch, yaw angles without change them to quaternions but I didn't find that kind of message after googling for a while. I know I can write my own types of messages but I don't want to reinvent the wheel if is the case.
So, does anyone know a standar message with pose and orientation being the angles in rpy form?
Regards, Juan Sandubete López.
There is none in the standard msg set, exactly because RPY (and Euler angles in general) has quite a few disadvantages which quaternions avoid.
You may not be looking for a discussion about the relative merits of quaternions, but can you perhaps tell us why you want to use RPY?
Thanks you for fast answering @gvdhoorn
I am trying it for better visualizing the angles with rqt_bag because It is not easy to guess what is happening to the robot (with the playing rosbag) only seeing its quaternion values. With rpy it is easier.
I wouldn't have an answer to that: raw quaternion values are indeed not very "nice" to look at. But that is what visualisation tools are for. Changing your msgs for that seems like the wrong thing to do.
Would creating a small rqt plugin that plots the state of your robot be an option?
What sort of robot are you using? A mobile platform?
To create a rqt plugin could be an option, but I don't really need it that much. Maybe I can spend some time learning how to create rqt plugins when I will be less busy.
It is an UAV, a quadcopter with usual X configuration.