# Invert a TF frame axis

I want to add a camera frame with x on the right, y up, and z **forward**. I am using the following command:

```
rosrun tf2_ros static_transform_publisher x y z yaw pitch roll map camera
```

First I tried to set up yaw, pitch, and roll manually by changing those three values. But there was always one axis that needed to be inverted which I could not do since if I change one of the three values, two axes change, not one. So, I ended up having a frame with x on the right, y up and z **backward**. Then I calculated a rotation matrix between those two coordinate frames. I found

```
0 0 1
R = -1 0 0
0 1 0
```

Then from the rotation matrix to yaw, pitch, and roll (-1.57, -0, 1.57). But the result is the same. How can I **flip only one axis** keeping the other two unchanged?

What do you mean by "x on the right"? After rotation you want the positive x-axis pointing to the left?

@Mike Scheutzow The coordinate system I want should have x pointing to the right, y upward, and z forward.