weixin_39812577
2021-01-10 03:55 阅读 1

Fix MAVROS rotations

We will need to inspect the MAVROS transformations. We should look at this and discuss it tomorrow.

Associated MAVROS issue: https://github.com/mavlink/mavros/issues/523

该提问来源于开源项目:PX4/Firmware

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  • weixin_39812577 weixin_39812577 2021-01-10 03:55

    http://www.ros.org/reps/rep-0103.html

    The key sentence is: yaw 0 is facing east, so when converting from NED to ENU a 0 degree heading will turn into a 90 degree heading (since the rotation direction around yaw is inverted as well, due to the inverted Z axis).

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  • weixin_39615596 weixin_39615596 2021-01-10 03:55

    From what and I found it seems that we have to work in different coordinate frames in PX4, ROS, gazebo but the transformations in MAVROS seem to be implemented correctly.

    PX4: NED MAVROS: ENU Gazebo: NWU (although it's not sure if Gazebo has an understing of North, or rather just x,y,z)

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  • weixin_39812577 weixin_39812577 2021-01-10 03:55

    I would like to see the reference that states that ROS is NWU. Please re-read REP 103 which says 0 yaw is facing east.

    Am 13.07.2016 um 08:47 schrieb Julian Oes notifications.com:

    From what and I found it seems that we have to work in different coordinate frames in PX4, ROS, gazebo but the transformations in MAVROS seem to be implemented correctly.

    PX4: NED MAVROS: ENU Gazebo: NWU (although it's not sure if Gazebo has an understing of North, or rather just x,y,z)

    — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

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  • weixin_39615596 weixin_39615596 2021-01-10 03:55

    I would like to see the reference that states that ROS is NWU. Please re-read REP 103 which says 0 yaw is facing east.

    I don't understand, it says ROS is ENU in http://www.ros.org/reps/rep-0103.html#axis-orientation and that matches with yaw 0 pointing to East.

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  • weixin_39769703 weixin_39769703 2021-01-10 03:55

    Has this been looked into any further?

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  • weixin_39615596 weixin_39615596 2021-01-10 03:55

    I still think this is all correct. I'm waiting for somebody showing me proof of the opposite :)

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  • weixin_39769703 weixin_39769703 2021-01-10 03:55

    So it's normal for the yaw being shown by /mavros/local_position/pose to be 180deg off from that being published to /mavros/vision_pose/pose?

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  • weixin_39615596 weixin_39615596 2021-01-10 03:55

    I don't know what's normal :) but if you point me to a field which is not according to the specs I'll believe it. So please dig out the specs for the mavros fields that you cite and we can check if it's correct.

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