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unit for theta coming from hector mapping or laser scan matcher

asked 2012-04-28 17:29:51 -0500

vivek gravatar image

updated 2014-01-28 17:12:08 -0500

ngrennan gravatar image

hi im using hector mapping on my quardotor and have problems with the theta coming out of /poseupdate. When i yaw the quad 90 degrees i get a value of 0.63 - 0.7 . If i consider this to be in radians and convert it, the value in degrees is about 36 - 40 degrees. I've also tried with laser scan matcher with the same result.

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answered 2012-04-28 23:09:48 -0500

That indeed sounds a bit weird. the pose published on the /poseupdate topic is the pose relative to the /map frame (by default). Did you consider that the orientation is given as a quaternion and that you can´t just look at the "z" component of it to retrieve to yaw angle in rad?

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yes i got that and when i use it as a quaternion im getting the values right. thanks for the reply

vivek gravatar image vivek  ( 2012-04-30 22:28:43 -0500 )edit

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Asked: 2012-04-28 17:29:51 -0500

Seen: 338 times

Last updated: Apr 28 '12