ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Question regarding Roll Pitch Yaw and coordinate system

asked 2013-08-06 06:57:26 -0500

updated 2014-01-28 17:17:34 -0500

ngrennan gravatar image

Hi all !

I have a question regarding the Roll Pitch Yaw convention in ROS (applying to all the the getRPY and quaternion convertion function).

I am aware that the convention in ROS is the fixed XYZ transform based on this [post].(

But what happens if the two coordinate systems used are not the same. Does the same Roll Pitch Yaw can be applied on both to express orientation ?

In my application my sensor is in NED and returns me the Roll Pitch Yaw. Can I apply this directly into ROS and use it in the quaternion convertion, to make a odometry message or to use it in a TF since ROS is in ENU ?

Thanks again !

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2013-08-06 07:49:37 -0500

Ed Venator gravatar image

Perhaps this answers your question.

edit flag offensive delete link more


Well, it's illustrate better what I thought. There is an ambiguity with the Euler angles convertion and utilization in ROS. There should be function to convert Roll Pitch Yaw from other axis convention to ENU Euler angles. Thank you for the help.

ETS-Dronolab gravatar image ETS-Dronolab  ( 2013-08-06 08:40:33 -0500 )edit

answered 2013-08-06 15:18:20 -0500

tfoote gravatar image

The names roll pitch and yaw have different meanings in different contexts. You need to understand the ones you are receiving and correctly input them with the syntax expected by the API. For clarity we have changed to fixed axis representation to avoid the many variations of euler angles.

edit flag offensive delete link more

Question Tools



Asked: 2013-08-06 06:57:26 -0500

Seen: 14,509 times

Last updated: Aug 06 '13