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# Questions tagged [frame]

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### How can I express the measurements from one IMU in the frame of another?

Context I have two inertial measurement units (IMUs), IMU A and IMU B, that are attached to rigid body X, as shown in Fig. 1 below. Fig. 1 We also consider a fixed frame of reference O. The $x$ axis (...
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### Inconsistent getCurrentPose() with TF2 pose information

I am getting robot pose information by using Moveit2 Script ( getCurrentPose() method). When I tried to verify the getCurrentPose information, I found that it was inconsistent with TF information. ...
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### Incorrect coordinate system for robot model in Rviz2 when launching urdf

I was able to launch my robot model in rviz2 - however I used the Solidworks to URDF exporter to generate my urdf file which I have found to be very unstable. For this reason I just let it use ...
1 vote
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### Conversion from body frame to NED frame

I have following Python code: ...
• 121
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1 vote
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### Is there a way programmatically transform coordinates (and the derivations) from one frame to another?

I got a question like this: assuming there are several cartesian coordinate systems (all are 2D or 3D, also if there is a universal solution can covers 1D or 4D or even higher dimensions will be ...
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### How to prove expression for relative pose in one frame given relative pose in another frame

Given the poseo of point 1 between $t_k$ and $t_{k+1}$ \mathbf{P}_{1}\left(t_{k}, t_{k+1}\right)=\left[\begin{array}{cc} \mathbf{R}_{1}\left(t_{k}, t_{k+1}\right) & \mathbf{T}_{1}\...
• 191
1 vote
516 views

### How do you rotate positions from ENU-frame to body frame?

If positions are in the local frame of ENU (or ECEF - either works), how do you rotate that to the body frame of the device? Logically, I thought that I could use the pitch, roll, and yaw angles of ...
541 views

### URDF for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
• 85
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### Planning in turned static frame fails

For an application I am planning in different static frames (tf2). On the first screenshot you see an example frame, named pm_slot2. By using the command ...
1 vote
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### Shifting through Z axis for Calculating Kinematics?

In CS223a homework there is a question to calculate DH parameters of given robot as below: When he try to solve DH parameters of the robot in the solutions he set first and second frame positions ...
974 views

### How to determine the rotation matrix and translation vector of a fixed LiDAR from the sensor frame to an aircraft's vehicle frame?

I am using a fixed 3D LiDAR sensor on a small aircraft. The vehicle has a GPS/INU to calculate its own position and orientation. I do not know the exact offset of the LIDAR from the center of the ...
1k views

### Forward Kinematics Frame Simulation in MATLAB

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz. So the size of the total T matrix is 4*4*1000. How can I ...
1 vote
204 views

### Not understanting the result of a relative transformation

I have the following set of coordinate frames (translations are not important in this case): $w$, the reference frame. $l$, a "left" reference frame. Rotated $-20\deg$ around $Y_l$ (axes $Y$ of frame ...
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### RViz error:Transform [sender=unknown_publisher] - For frame [X]: Frame [X] does not exist

[ROS Kinetic, Ubuntu 16.04] Hello, I have a problem with sensor frames in rviz. I have created a static trasform broadcaster that publishes all static transforms of my robot (did it according to http:/...
597 views

### Rotation composition When using Kalman Filter

I am implementing a Kalman Filter for the following situation. I have a camera set in a room that can detect the position and orientation of a marker (ARUCO) in the room. Therefore I have the ...
• 298
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### How to rotate a rotation quaternion in the body frame to a rotation quaternion in the world frame?

I have a sensor (3 axis gyroscope) which can rotate and measure angular velocity in 3 dimensions (aligned with the sensor). I know what its current orientation is with respect to the world frame. Call ...
69 views

### How can I protect my props from being damaged?

I have a quad copter and I'm developing my own flight controller to run the code and testing it on the quad. As you all must be knowing, this means a lot of broken propellers. I thought of making a ...
922 views

### Confusion in fixing DH frames

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and ...
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### Build (Assembly kits?) the frame of a robot [closed]

I am fairly knowledgeable about robotics programming, and stuff like that; but, I am a total ignorant about how to actually "build" a robot. My question is: What materials do you recommend to build ...
• 103
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### Global frame of local costmap and goal accuracy

Hi all, I'm confused about global frame of local costmap. I'm trying with sbpl and pose follower. Since I want to follow the global plan as close as possible, I tried to change global frame of local ...
101 views

### Problem with Coordinate Transformation

So I have a quad with a black-box estimator on it. The black box estimates the pose of the quad. I also have a Vicon system that I'm using to get the ground truth pose of the quad. I'm trying to ...
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### Interactive marker attached to a moving frame?

Hi, I'm new to ROS and working in C++ and kinetic. I am able to create an interactive marker attached to the "world" frame and set its pose. But if I attach the interactive marker to a ...
1 vote
3k views

### Confusion about order of homogeneous transform multiplication

This is my first post here, so if I unknowingly vioated any rules, mods are welcome to edit my post accordingly. Ok, so my problem is that following Craig's conventions, I can't seem to find the ...
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### tf for every child frame?

Hey there, Is there any possibility to kind of "get" all child frames of a specific frame? I want to make a transformation (simple rotation on 2 axis) to every child frame of a specific ...
144 views

### How unique are Quarternions and what about the sign?

I want to track a robot's orientation in space and wanted to choose quaternions for their many advantages. However I have a few questions that I haven't found to be solved anywhere. The method I use ...
• 121
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### Best practice for creating new frame names?

I have a simple two-wheeled platform, and I'm trying to publish ultrasonic range data via the standard range message type. This message type requires a header with a frame_id. The sensors are attached ...
7 views

### How to fix Turtle frames in the RViz?

I am trying to learn RVIZ by doing the examples of a book, but the tool is displaying an Error in its global status: Fixed Frame [map] doe not exist. My Goal is to run the roslaunch turtle_tf ...
So I was given a course assignment to assign frames and write D-H parameters for this robot using only 5+1 frames (with Frame $\{5\}$ at $P$ and Frame $\{0\}$ at $O$). And I assigned them like this: ...