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equinor / flotilla

Flotilla is the main point of access for operators to interact with multiple robots in a facility.
Eclipse Public License 2.0
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Quaternions in flotilla backend should be calculated with clockwise rotation, not counterclockwise #730

Closed phhuseboe closed 1 year ago

phhuseboe commented 1 year ago

Describe the bug The convertion from Echo's Axis-angle representation to quaternion makes the calculated pose rotate counterclockwise instead of clockwise, making the robot move to wrong pose

To Reproduce Steps to reproduce the behavior:

  1. Run mission with taurob or turtlebot
  2. Observe that it rotates to wrong pose by doing counterclockwise rotation, not clockwise

Expected behavior The resulting pose should be set following clockwise rotation

Proposed solution Negate the angle used in convertion from Axis-Angle to quaternions

Screenshots N/A

aeshub commented 1 year ago

Uncertain if this issue is related to quaternions and their rotations. Would like a discussion @phhuseboe.

Until then the issue will be kept in TODO.

aeshub commented 1 year ago

Blindzone?

phhuseboe commented 1 year ago

@aestene It was observed that the base oriented itself north when we told it to orient itself south. We have converted the axis-angle representation of orientation to quaternions, following the right hand rule. Echo's coordinate frame follows the left-hand rule, and I believe that this makes it turn the opposite direction

aeshub commented 1 year ago

We will test this with the robot today.