Rotate pose with covariance frame [closed]

asked 2013-07-18 10:23:49 -0500

Pino gravatar image

Hello,

I'm trying to use the http://www.ros.org/wiki/fovis_ros (fovis_ros) package for visual odometry with a kinect. As it states, the frame convention is:

NOTE: The coordinate frame of the camera is expected to be the optical frame, which means x is pointing right, y downwards and z from the camera into the scene.

I need to publish the odometry message (http://www.ros.org/doc/api/geometry_msgs/html/msg/PoseWithCovariance.html (geometry_msgs/PoseWithCovariance) to be more precise) with my robot running another package which reference frame is: X forward, Y left and Z up (common robot frame as I understand).

For the pose I could write a simple program to switch the axis data (for example, do z = -y), but the covariance matrix won't be as simple as I understand.

I have seen the http://www.ros.org/wiki/tf (tf package) helps with frame rotations, but I have two questions: - Is this package used for the purposes that I need exactly? - Is there a simpler way to do this? (the processing on my robot is very limited)

Thank you,

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Closed for the following reason duplicate question by tfoote
close date 2017-11-30 10:30:05.725864

Comments

1

I believe this answers my question: http://answers.ros.org/question/27743... Should I delete the question?

Pino gravatar imagePino ( 2013-07-19 06:01:37 -0500 )edit