Closed Allenhanbo closed 4 years ago
Hi all, I use the launch file external_position_vicon.launch to do the autonomous flying. I echo the topic /tf using the rostopic echo /tf. The sample looks like:
transforms:
I can get the position and orientation of drone relative to the world frame.
For rotation(quaternion, I have one question: How can I transfer the quaternion into the rotation matrix R composed of three euler angles.
Hi all, I use the launch file external_position_vicon.launch to do the autonomous flying. I echo the topic /tf using the rostopic echo /tf. The sample looks like:
transforms:
header: seq: 0 stamp: secs: 1574817405 nsecs: 846164606 frame_id: "/world" child_frame_id: "vicon/cf1/cf1" transform: translation: x: 0.0220311362154 y: 0.018269594248 z: 0.015730223606 rotation: x: 0.0172112712763 y: 0.0116523005586 z: 0.0338153541435 w: 0.999211948416
I can get the position and orientation of drone relative to the world frame.
For rotation(quaternion, I have one question: How can I transfer the quaternion into the rotation matrix R composed of three euler angles.