what is the controller coordinate system

[rancheng]

while reading the data from controller, and visualize in rviz, the axis is not identity to the default world coordinate (x: right, y: front, z: up) What I observed is like this:

what I want is to make the axis of controller aligh with the world coordinate.

[rancheng]

after a few trials I found that the coordinate system is relative to the headset, I thought the headset might be the fixed world coordinate, but looks like the headset has it's own pose, so each time the headset orientation changes the controller's axis is also changed, how can I recover the absolute pose relative the real-world coordinate?

[Jendker]

We haven't considered it until now. In our usecase we are storing a starting position marked by pressing the button and then calculated relative poses with respect to that. I hope that helps.

If you would have any suggestions for the absolute pose estimation, PR would be helpful!