search

tu-darmstadt-ros-pkg / hector_quadrotor

hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems.
Other
378 stars 277 forks source link

orientation ground truth #74

Open hosh0425 opened 7 years ago

hosh0425 commented 7 years ago

I need to log ground truth of quadrotor (x,y,yaw). on topic /ground_truth_to_tf/pose robot pose are okey but to calculate robot yaw we need to use orientation. in orientation x and y are

x: -6.87593260918e-20 y: 1.25863102164e-19 approximatly zero and thus the yaw(calculate throw atan2(2(q0q3+q1q2)),1-2(q2q2+q3q3)) will be 0 or pi. what's the solution?

JoeyZhu commented 7 years ago

you can try tf::getYaw(msg->pose.pose.orientation);