# Revision history [back]

### How to change the yaw angle in ROS

Hi guys, I have been working on the ar.drone flying robot and what I want is to have the ar.drone takeoff, change the yaw angle by 90 degrees while holding that hover position and then land. I tried to write some code to achieve this but what happens is the ar.drone keeps on spinning all throughout the take off and landing. Here is my method:

void DC::Yaw(){

    ros::NodeHandle nh;
ros::Publisher flyF = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1000, true);
geometry_msgs::Twist yaw;

yaw.angular.x =0;
yaw.angular.y = 0;
yaw.angular.z = 1.57;

flyF.publish(yaw);
ros::Duration(1).sleep();

}


My takeoff and land functions work well but it is just this yaw function that is causing me issues.

Thanks!

 2 No.2 Revision Boris 2960 ●30 ●55 ●83 http://people.idsia.ch/~gromov

### How to change the yaw angle in ROS

Hi guys, I have been working on the ar.drone flying robot and what I want is to have the ar.drone takeoff, change the yaw angle by 90 degrees while holding that hover position and then land. I tried to write some code to achieve this but what happens is the ar.drone keeps on spinning all throughout the take off and landing. Here is my method:

void DC::Yaw(){

void DC::Yaw(){
ros::NodeHandle nh;
ros::Publisher flyF = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1000, true);
geometry_msgs::Twist yaw;

yaw.angular.x =0;
yaw.angular.y = 0;
yaw.angular.z = 1.57;

flyF.publish(yaw);
ros::Duration(1).sleep();
}


My takeoff and land functions work well but it is just this yaw function that is causing me issues.

Thanks!