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fdcl-gwu / uav_simulator

Python - Gazebo Simulation Environment for a UAV with Geometric Control
MIT License
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Question about the self.R_fg in rover.py #7

Closed CLi-11 closed 10 months ago

CLi-11 commented 10 months ago

Hi，

I found that the following "self.R_fg" in the "rover.py" is used to transform from ENU frame to NED frame. self.R_fg = np.array([ [1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, -1.0] ]) However, from my understanding, the following should be used, self.R_fg = np.array([ [0.0, 1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, -1.0] ]) am I wrong? maybe I miss something.

Thanks in advance for your help!

kanishkegb commented 10 months ago

Yes, you are correct in terms of what north, east actually means as directions. But what is implied and used here is that "North" of NED and "East" of ENU are the first axis.

In other words, "North" used in our lab is the same direction as "East" used in Gazebo. I will add some comments clarifying this to the code. Thanks for bringing it to the attention.

kanishkegb commented 10 months ago

This has been addressed in #9.