with some extra calculation
concerning yaw angle value were range from -3.1415... to 3.1415.. i assume it shoud be pi(22/7)
therefore:
yaw=yaw_angle/((22/7)/180)
so i could get the yaw from 0-180 degree for both positive and negative.
this were working fine for yaw 0,90,and 180..
and some other angle..
however on some circumatances... the yaw drift like up to 5 degree.
here some screen shoot
from current location, 9.15,4.009
to target location 7.13, 2.03 should be around -135 degree from x axis
however the yaw showing -137 degree when it standing on current locating facing to target location.
(see bottom right corner)
2nd sample:
this 2nd sample drift till 5 degree
(see bottom right corner)
could i calculate the yaw wrongly?
or im missing something?
Hi guys
i had found the yaw on certain position were drift quite alot... while on other some other position seems to be okay.
im using the yaw from
double yaw_angle = tf::getYaw(odom_trans.transform.rotation);in here hdl_localization_nodelet.cpp#L255with some extra calculation concerning yaw angle value were range from -3.1415... to 3.1415.. i assume it shoud be pi(22/7) therefore:
yaw=yaw_angle/((22/7)/180)so i could get the yaw from 0-180 degree for both positive and negative.
this were working fine for yaw 0,90,and 180.. and some other angle..
however on some circumatances... the yaw drift like up to 5 degree.
here some screen shoot
from current location, 9.15,4.009 to target location 7.13, 2.03 should be around -135 degree from x axis however the yaw showing -137 degree when it standing on current locating facing to target location. (see bottom right corner)
2nd sample: this 2nd sample drift till 5 degree (see bottom right corner)
could i calculate the yaw wrongly? or im missing something?