Questions tagged [quaternion]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
1 answer
20 views

How to give Moveit! local orientation goal to my end effector, but global position?

As the title says, how to give a local orientation to my end effector, but global position? Basically this would mimic the goal orb in RVIZ, where you can drag it around to give global position, but ...
Ezeuz's user avatar
  • 1
0 votes
1 answer
109 views

How to get the world coordinates with position and orientation in ROS 2 Humble

I am using ROS 2 Humble. A person is supposed to take a photo of an AR marker with a camera. Inside the system, we can obtain the relative coordinates, position (x, y, z), and rotation, orientation (x,...
aotombo's user avatar
1 vote
1 answer
88 views

Customize SLERP used in MoveIt motion planning

I am currently working on a project utilizing ROS Noetic and MoveIt for robotic arm path planning. I have a robot arm that has to pick up items from between shelves on its left and right side. However,...
Steven Oh's user avatar
0 votes
0 answers
39 views

ROS custom msg to be used in an ESP32 microcontroller using Platformio

I'm trying to publish an array of quaternions to a single topic on ROS noetic. For that I created a new message type following the tutorial: ...
Heisenberg's user avatar
0 votes
0 answers
20 views

Does the Factored Quaternion Algorithm Account for Declination?

Looking at the documentation for the Factored Quaternion Algorithm (FQA). In section 2 they define NED as the traditional Earth's fixed coordinate system, thereby referring to 'true' north. However, ...
sbourne's user avatar
0 votes
1 answer
60 views

How to use quaternions in ROS2

I have to use some sort of transformations to generate velocity of a model using global coordinates. This code is for making the model go to specific locations (goals). the problem i am facing is that ...
Ayush Singh's user avatar
0 votes
0 answers
49 views

How to convert accel data to quaternion?

To ask my question better, let's assume that I have created 2 different accel data: timestamp accel_x (m/s^2) accel_y (m/s^2) accel_z (m/s^2) 1 0.0009314967509892153 0.004056761742037966 -9....
Musa Şen's user avatar
0 votes
1 answer
49 views

Finding shoulder joint orientation

Ok so I have been trying to find out shoulder joint angles from a kinect RGB-D camera.My end goal is to acquire these angles to feed them to a robotic arm (7DoF - 3 shoudler 1 elbow 3 wrist) and ...
Croma Warrior's user avatar
0 votes
1 answer
25 views

Visualize object orientation using IMU

Hello my question might sound a little naive I know. But, you know how tedious and confusing quaternions might be. I have an OAK-D camera with it's model in stl format have a URDF provided with all ...
user avatar
0 votes
1 answer
30 views

UR5 how to convert axis angles to quaternions

Hi, We have a UR5 robotic arm. We use Moveit move_group_interface to send simple pose and joint-space goals to this arm. In ...
user avatar
0 votes
1 answer
14 views

Equivalent of checking quaternion is valid in tf2

Is there an equivalent function to assertQuaternionValid() in tf2? I suppose I could just re-implement the source code for the function using tf2 equivalents? http:/...
user avatar
0 votes
1 answer
126 views

MSG to TF : Quaternion Not Properly Normalized

Thank you for clicking, hello, I'm ros begginer. I am currently using IMU for Slam mapping. But I get the ERR MSG(MSG to TF : Quaternion Not Properly Normalized). What should I do?? ...
user avatar
0 votes
1 answer
8 views

Possible error in 'Quaternions' tutorial

Hi, I tried transforming roll, pitch, yaw angles to a quaternion in python following this tutorial (http://wiki.ros.org/tf2/Tutorials/Quaternions). In subtopic 3 "Think in RPY then convert to ...
user avatar
0 votes
1 answer
33 views

How to derive a pose quaternion from orientation vectors with tf2

I am trying to calculate the pose of an object using tf2. I know the X', Y', Z' vectors defining the orientation of the object - ie. the principle axes of the target frame, expressed in the origin ...
user avatar
0 votes
1 answer
4 views

Quaternion wrong orientation

I have a binpick application with robot arm and a fixed camera. The camera does it's vision stuff and sends the robot pickpose as a quaternion to the robot, This is done using a static tf between the ...
user avatar
0 votes
1 answer
29 views

Default transform direction if tf2?

I'm instantiating a tf2::Quaternion from a custom quaternion (scalar first) defined as the rotation of a vector from inertial to body coordinate system. In the next step I'm instantiating a tf2::...
user avatar
0 votes
2 answers
312 views

Converting image pixel coordinates 2D(X, Y) to 3D world coordinate(Quaternion)

Hi there, I want to obtain quaternion from x,y,z(depth camera) position. I am new to ros, and I am using Intel real sense. Things Done: I have integrated yolov5 with ros, and I am obtaining the ...
user avatar
0 votes
1 answer
38 views

Converting cv::Mat rotation matrix to quaternion

Is there a way to convert a cv::Mat rotation matrix to a quaternion? Originally posted by EDU4RDO-SH on ROS Answers with karma: 52 on 2020-07-28 Post score: 1 Original comments Comment by ...
user avatar
0 votes
1 answer
7 views

Compute quaternion from angular velocity Twist

Hi, I'm using ROS melodic with kitti bag file. I'm running Ubuntu 18.04 on i7 , with kernel 5.3.0-42-generic. I get the odometry of a Kitti bag file with viso2_ros. I want to predict the poses of the ...
user avatar
0 votes
1 answer
11 views

Converting vector to orientation in sensor_msgs/Imu

I'm using the Lego Control+ Technic Hub as an IMU using the node-poweredup library. I am getting the imu data from the hub into ROS just fine but I am having trouble knowing how to correctly publish ...
user avatar
0 votes
1 answer
19 views

Create quaternion from euler in arduino

HI How to create a quaternion from Euler angles in arduino? In python it is possible to use this function: ...
user avatar
0 votes
1 answer
11 views

Orienting the robot properly

I'm trying to position my robot in a particular way after it reaches a particular checkpoint. ...
user avatar
0 votes
2 answers
112 views

how to get rotation matrix from quaternion in python

I can see tf.transformations have a matrix to quaternion function, but is there a way to do the opposite in python? Originally posted by mugetsu on ROS Answers with karma: 195 on 2019-05-30 Post ...
user avatar
0 votes
1 answer
2 views

why the robot position coordinate change a lot when doing rotation?

Dear all, Sorry forget my silly question, here I follow some tutorial code to write a test code to control TB3 burger to move a triangle shape. Below are part of code that to obtain the current ...
user avatar
0 votes
1 answer
3 views

Combine two parent-child transformations for common link

I am trying to connect two tf trees via a known link by following the advice from @tfoote here. One link belongs to the robot tf tree and the other belongs to a camera tf tree that is not part of the ...
user avatar
0 votes
1 answer
100 views

How to calculate the difference between two geometry_msgs::Pose

I have two geometry_msgs::Pose structure p1 and p2. Each of them contains a geometry_msgs::Point and geometry_msgs::Quaternion. I would like to calculate the different between the two poses. I know ...
user avatar
0 votes
1 answer
1 view

Calculate picking pose from mesh origin pose (using tf?)

I would like to pick and place multiple times an object I have in the collision world. The object gets moved in different states, and at the moment I don't have cameras on the scene so I can't infer ...
user avatar
0 votes
1 answer
24 views

Static tf2 transform returns correct position but opposite quaternion

Trying to read the state of my robotic arm, I found that the manufacturer provided transforms for everything up to the flange but not to the center of the closed fingers in the end effector. In the ...
user avatar
0 votes
1 answer
5 views

normal/orthogonal orientation to a surface

Hello! (This can be a bit noob question, but im confused, so i ask) Lets say I have a surface, a wall, described by YZ points of the world coordinate frame. I want my robot EEF to go to a desired XYZ ...
user avatar
0 votes
2 answers
4 views

Rotate quaternion by body yaw

How to change a quaternion's body-fixed yaw? Using Matrix3x3's getRPY and then setRPY doesn'...
user avatar
0 votes
1 answer
22 views

Angle between two orientations

There are two orientations given, as intrinsic yaw-roll-pitch (rzyx). How to calculate the angle between the "Z" axes of them? Converting the orientations to quaternions or to anything else ...
user avatar
0 votes
1 answer
14 views

How to transform rtabmap/odom?

I want to compare the visual odometry from RTABMAP (Kinect 2) with ground truth. But it provides odometry rotated 90 degrees around. How to align it with ground truth? Sorry for my English. ...
user avatar
0 votes
1 answer
33 views

How to convert IMU data to quaternion orientation

Hello I'm trying to fuse my IMU data (and GPS data) with the package robot_localization. Therefore, I have to put my IMU data into a sensor_msgs/Imu message. I know it is possible to convert my IMU ...
user avatar
0 votes
1 answer
4 views

Wrong argument type when writing quaternion orientation to pose message

Edit: I tried to just simply copy the quaternion values and hardcode them as an orientation coordinates. Results are the same, so maybe problem comes from another part of my grasp msg? I dumped the ...
user avatar
0 votes
1 answer
16 views

Get link absolute orientation - IMU position

Can anyone advise how to calculate the quaternion orientation of a link? I'm following a somewhat unconventional approach and using an IMU that outputs it's absolute quaternion to measure the position ...
user avatar
0 votes
2 answers
7 views

TF quaternion rotation problem

My goal is to rotate a quaternion by a yaw angle. q1 is the quaternion that I want to rotate q1 = quaternion_from_euler(math.pi/2, math.pi/4, math.pi/4) I want to ...
user avatar
0 votes
1 answer
3 views

Ignore yaw of object for pick and place

I am working on a pick and place application where I have to pick a dodecahedron with a vacuum gripper. The camera gives the object pose with respect to the bin it is in. I want to avoid rotating the ...
user avatar
0 votes
1 answer
2 views

How do I get the displacement vector from one object to another?

I have two objects A and B, each in the form of geometry_msgs/PoseStamped. I would like to calculate the displacement (translation & rotation) vector that I can apply to any (similar) object A' ...
user avatar
0 votes
1 answer
2 views

transform (x,y,z) coordinate from kinect to /map frame using tf

Hi, I'm tracking an object using a kinect and trying to publish the tf transform of that object in a "/map frame. I'm able to return the object's x, y and depth data using OpenCV. However, I'm ...
user avatar
0 votes
1 answer
18 views

Get robot position und orientation (in degree) from TF

Hi, I want to get the Position (x, y) and the orientation from my robot. The position should be relative to the map TF. Therefore I used a TransformListener: ...
user avatar
0 votes
1 answer
16 views

how to get yaw from quaternion values?

Hello everyone, I am new to ROS and this community. I am working with pioneer 3dx robot. My aim is to drive it in a square shape path and return back to its initial position. I am able to get ...
user avatar
0 votes
1 answer
2 views

Quaternion problem?

Hello, I have a problem with this function: geometry_msgs::Quaternion odom_quat= tf::createQuaternionMsgFromYaw(th); when I give the input value "th" in degree it functions and the robot ...
user avatar
0 votes
1 answer
2 views

How to transform between the quaternions ( or ERYs)

I know I can transform my quaternion to ERY, and it seems easier to transform between ERYs because it's more direct. For example, I have a vector X (x,y,z) and its ERY is (0,0,a), and I have another ...
user avatar
0 votes
2 answers
3 views

Quaternion of a 3D vector

My drone is to reach position x,y, z and orient itself along vector3D (ax, by, cz) wrt origin. In order for me to visualize this on rviz I must represent them in quaternion form. I understand that ...
user avatar
0 votes
1 answer
5 views

Converting a basis to a quaternion python

Hello, I have information in this format (what I assume to be a rotation matrix) xBasis:(-0.923067, -0.221423, -0.314514) ...
user avatar
0 votes
2 answers
48 views

Get vector representation of x, y, z axis from geometry_msgs Pose

Hi, I have a geometry_msgs/Pose message that contains a certain position and orientation. I want to get the equation of the x axis of that position and orientation. What ROS library function can I use ...
user avatar
0 votes
1 answer
1 view

something about sendtransform, quaternion and euler

Hi,you, I'm a clown boy and the following params puzzled me,can you make a description for me? My questions are: first:I don't understand "the translation of the transformtion as a tuple (x, y, z)...
user avatar
0 votes
1 answer
8 views

Can I send a goal without quaternion?

Hello, I'm pretty new to ROS, but I got a navigation stack working, now I want to send a goal without quaternion i.e. I don't care about the orientation of the robot, if he arrives on the coordinates ...
user avatar
0 votes
3 answers
23 views

How do I reset the /odom topic back to 0 without restarting the robot?

I am using this callback function because I want to tell the robot to move a specified angle. I was wondering if there is a way to restart the /odom topic back to 0 for simplicity purposes. Your help ...
user avatar
0 votes
1 answer
6 views

How should RPY converted from an IMU look like?

What angles should be there? 0°-360° ? -180° - 0° - 180° ? Or something else? I am for example using this code and I am getting weired results... ...
user avatar