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/gazebo/model_states yields incorrect orientation for cube

asked 2022-09-08 11:33:22 -0500

CroCo
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I'm trying to access the pose of cube in gazebo using /gazebo/model_states. There is a large error between the reported result by /gazebo/model_states and Gazebo GUI. Take a look at the following picture. The GUI shows 0.758 and /gazebo/model_states gives 0.369. I need to use this data as ground truth but from what I'm noticing, I need to make sure there is no discrepancy. Any suggestions?

Melodic, Gazebo 9, Ubuntu 18.04.

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answered 2022-09-08 12:03:27 -0500

Ronoman
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These look correct to me. Gazebo is reporting axis-angle in radians, while /gazebo/model_states is reporting quaternions. You can do a manual transform here to see that they are the same: https://www.andre-gaschler.com/rotati....

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Asked: 2022-09-08 11:33:22 -0500

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Last updated: Sep 08 '22

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/gazebo/model_states yields incorrect orientation for cube