Quaternion of robot given by link state changes slightly
I'm subscribing to /gazebo/link_states to get my robot's angle in the world. The angle is given as a quaternion. However, if I'm standing still, it seems the x value of the quaternion is slightly changing as time goes on, which increases my angle slightly over time (around 0.01 degrees every 2 seconds). I'm worried that this problem can add up over time. Any ideas on why this issue is occurring?
Some noise is unavoidable and due to numeric precision. Is the error accumulating?
Yes, sorry if my wording was bad. The error is accumulating, which is why I'm worried. I'm gaining 0.01 degrees every 2 seconds, which could add up over time.
If you're sure that is what's happening (and it's not self-correcting after a while) you might consider asking on gazebosim. Link the questions if you do.