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sonyccd / roboclaw_ros

ros for roboclaw
BSD 2-Clause "Simplified" License
50 stars 92 forks source link

rotation angle is backward #10

Closed kotaweav closed 7 years ago

kotaweav commented 7 years ago

tf.TransformBroadcaster.sendTransform takes in the transformation from the child frame to the parent frame. In this case base_link (the robot's frame) is the child and the parent is odom. To transform from the robot's frame to the parent frame, the angle should be negative of the robot's frame relative to the world.