Getting the position and the pose of robot using tf_listener

Question

I'm trying to get position and orientation of the robot calculated by gmapping.
I used this question link text and tutorial link text as a reference.

I can get the robot position using tf::Transform::getOrigin() which is /map -> /base_link transform.
However the robot angle obtained from tf::Transform::getRotation()::getAngle() is only from 0 to π.
To determine the angle of the robot from 0 to 2π, What should I do?

---

Originally posted by s-kawakami on ROS Answers with karma: 1 on 2012-07-19

Post score: 0

Answer 1

Use tf::getYaw:

tf::getYaw(transform.getRotation());

---

Originally posted by Lorenz with karma: 22731 on 2012-07-19

This answer was ACCEPTED on the original site

Post score: 11