left hand coordinate system visualization in Rviz
I have been trying to write a tf transform from the standard ROS right handed coordinate system to left hand coordinate system , but I have been unable to achieve it. Any help would be greatly appreciated. What i tried so far is presented below.
tf::Transform tf;
tf::Matrix3x3 m(1,0,0,0,-1,0,0,0,1);
tf::Quaternion q;
m.getRotation(q);
transform.setOrigin(tf::Vector3(0,0,0));
transform.setRotation(q);
and then broadcast this trabsform
AFAIK, none of TF was designed to work with left-handed coordinate systems, and I would not expect broadcasting or visualization to work properly: http://www.ros.org/reps/rep-0103.html...
When I've run into left-handed coordinates, I've done as this answer says and manually swapped an axis.