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How to visualize Quaternions

asked 2019-06-14 00:03:47 -0500

Loss of human identity gravatar image

Hello everyone,

How do you visualize a time-series of Quaternion values?

Thank you a lot in advance

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Really just a Quaternion in isolation, or with an attached Position? If the latter, you could use the Pose visualisation / markers or even broadcast as TF and then use the TF display.

Related: #q49045.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-14 02:00:34 -0500 )edit

Only the Quaternion in isolation. Are there any way to do this in RViz or better rqt? Thank you in advance

Loss of human identity gravatar imageLoss of human identity ( 2019-06-14 11:35:26 -0500 )edit

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answered 2019-06-20 01:51:04 -0500

VitaliyProoks gravatar image

Quaternions represent rotations and cannot be observed directly. But it's possible to see how a quaternion affects, for example, a coordinate frame. So, to visualize a quaternion, you could publish tf messages with the quaternion values you have, and use TF display in RViz to see the result. A quaternion "in isolation" can be treated as a "quaternion with attached position" but with the position set to the origin or to any other fixed point in space.

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Asked: 2019-06-14 00:03:47 -0500

Seen: 137 times

Last updated: Jun 20