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I'm receiving ARKit's pose as is from iPhone and publishing in a topic. In ROS I need to convert it to the ROS reference frame. ARKit is right-handed x-right, y-up and z-backward so my conversion is two rotations: -90 around X and -90 around Z. However it does not give desired result in rviz. Would appreciate pointing me in the right direction (practical/theoretical) to fix this.

ARKit -> ROS conversion:

tf::Pose convertCameraPoseToRos(const tf::Pose& cameraPose)
{
        // arkit to ros conversion
        // 1. rotate -90 around X
        // 2. rotate -90 around Z
        #define PI 3.1415926535897
        tf::Transform rotate1 = tf::Transform(tf::Quaternion(tf::Vector3(1,0,0), -PI/2));
        tf::Transform rotate2 = tf::Transform(tf::Quaternion(tf::Vector3(0,0,1), -PI/2));

        tf::Transform arCameraRotation = tf::Transform(cameraPose.getRotation());
        tf::Transform arCameraTranslation = tf::Transform(tf::Quaternion(1,0,0,0), cameraPose.getOrigin());

    // tried this one - didn't work
        //return arCameraTranslation * rotate1 * rotate2 * arCameraRotation;

        return cameraPose * rotate1 * rotate2; // this one is current, but doesn't work either
}

ARKit pose obtaining on iOS in swift:

// inside delegate "func session(_ session: ARSession, didUpdate frame: ARFrame)"
self.arKitT = frame.camera.transform 

arKitPose.position_.x_ = arKitT!.columns.3.x
arKitPose.position_.y_ = arKitT!.columns.3.y
arKitPose.position_.z_ = arKitT!.columns.3.z

let poseQ = simd_quatf(self.arKitT!)                    
arKitPose.rotation_.x_ = poseQ.vector.x
arKitPose.rotation_.y_ = poseQ.vector.y
arKitPose.rotation_.z_ = poseQ.vector.z
arKitPose.rotation_.w_ = poseQ.vector.w
// arKitPose is being published as PoseStamped

Didn't get my math correct -- needed to rotate -90 around Z, then -90 around Y. Also, the ordering should be different.

Converting received ARKit pose to ROS pose I'm receiving ARKit's pose as is from iPhone and publishing in a topic. In RO

Hi there. I have an existing app, or rather a shared library, that I compile for mobile platforms (currently Android, but iOS will come very soon too). It is a C++ library that have heavy dependencies (“heavy” in terms of cross-compiling and amount of code). Now, I need to publish (and consume) some ROS topics. I was looking at ROS client libraries page and it seems to me that I should use roscpp for my project. However, after following through all the android ndk tutorials I’m still confused on how I would incorporate roscpp into my existing code. I would expect to have a set of .so or .a libraries compiled for the target platform (btw, I use arm64 while docker container compiles for arm7) and a headers folder to include in my source code. My question is – how can I use roscpp in my existing C++ android library? I am not using Android studio, I use ndk-build directly. I noticed there’re Application.mk and Android.mk files in “roscpp_android_ndk” folder, is that shall be used ultimately?

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Using roscpp in existing app on Android/iOS Hi there. I have an existing app, or rather a shared library, that I compile

Hi! Have you found a solution to your problem? I'm facing a similar one.

Using roscpp in existing app on Android/iOS Hi there. I have an existing app, or rather a shared library, that I compile