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ros2 / geometry2

A set of ROS packages for keeping track of coordinate transforms.
BSD 3-Clause "New" or "Revised" License
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Wrong Euler convention used for tf2_echo #669

Closed doisyg closed 2 months ago

doisyg commented 3 months ago

Bug report

Required Info:

Steps to reproduce issue

Query a 3d transform 

ros2 run tf2_ros tf2_echo frame_b frame_a

Expected behavior

Display RPY Euler rotation

Actual behavior

YPR Euler rotation is displayed

Additional information

Due to https://github.com/ros2/geometry2/blob/0ea2ad3ee99d2e3ffcb1f04286d22edfeffb2e1c/tf2_ros/src/tf2_echo.cpp#L159

scott-robotics commented 2 months ago

Still displayed in RPY convention - just the getter is YPR https://github.com/ros2/geometry2/blob/0ea2ad3ee99d2e3ffcb1f04286d22edfeffb2e1c/tf2_ros/src/tf2_echo.cpp#L161

doisyg commented 2 months ago

Yes but then depending on the transformation queried, displaying in the order Roll Pitch Yaw, doesn't make it RPY convention ;)

doisyg commented 2 months ago

Closing as I must have been really confused when I opened this issue and I don't see a problem anymore