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How should I create a quaternion of a simple yaw (zaxis) rotation in ros2?
The alternative in ros1 were essentially tf::createQuaternionMsgFromYaw or tf::createQuaternionFromYaw but these options are not there anymore.
As far as I know there is no out of the box tf/tf2 function that does that in ros2.
However, you can easily achieve that with a simple helper function e.g.:
auto createQuaternionMsgFromYaw(double yaw)
{
tf2::Quaternion q;
q.setRPY(0, 0, yaw);
return tf2::toMsg(q);
}
Asked: 2020-11-02 03:04:04 -0500
Seen: 2,394 times
Last updated: Nov 02 '20
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