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Transform quaternion orientation to vector

asked 2022-02-24 18:32:29 -0500

xaru8145 gravatar image


I have a geometry_message::Pose message. This message has a position and an orientation in quaternions. I would like to obtain a vector that represents the orientation. Just like in rviz you visualize a pose with an arrow. The arrow is given by the position and a direction (orientation).

How can I transform the quaternion into a unit vector that represents the direction? In CPP.

Thanks in advance!

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answered 2022-02-25 05:11:50 -0500

ljaniec gravatar image

I suggest you use of the `tf2' and it's transformation functions.

There you have the tutorial:

I would use this method getYaw().

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Asked: 2022-02-24 18:32:29 -0500

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Last updated: Feb 25 '22