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Propagation of covariance matrix during a rotation

Suppose we have a rotation matrix representing an objects rotation in a certain frame $F_1$ along with a distribution of Euler Angles representing the probability that the object is perturbed from ...
FourierFlux's user avatar
2 votes
1 answer
121 views

Can Euler angles cause gimbal lock when you always rotate along body or fixed frame axes?

I am learning about Euler angles, and read about gimbal lock. I read that representing rotations with Euler angles can always cause gimbal lock. All the examples that I saw on the internet show an ...
Mykhailo Seniutovych's user avatar
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11 views

Is it possible to do uncertainty propagation with TF2? If not what can I use?

I'm interested in applying a sequence of linear transformations to a gaussian probability vector in TF2. As far as I understand this is a pretty operation due to the gaussian nature and I see TF2 has ...
FourierFlux's user avatar
1 vote
0 answers
21 views

How to lookup most recent tf2 transform regardless of age

I want a callback to respond to an update between any of the tf2 transforms between frame A and B on the /tf topic. It should use the most recent transform available between every frame. Some frames ...
Bart B's user avatar
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How to Ensure Consistent Reference Frames for Comparing Odometer and Camera Angle Data in ROS Noetic?

In my ROS Noetic project of a vehicle with a camera and odometer, I'm planning to compare the vehicle's position from the odometer with the desired angle or direction detected by the camera. However, ...
Donnovan Trejo's user avatar
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1 answer
67 views

Inverse Kinematics, indicate if multiple soltuions exist using a matrix

I'm trying to practice inverse kinematics and I'm having a really tough time understanding how you can indicate if multiple solutions exist just using a matrix. I also don't know how I would indicate ...
Tom's user avatar
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1 answer
43 views

Mixing coordinate frames and transformations

Could somebody explain to me the mixing of coordinate frames and transformations with each other in Robot Manipulators: Mathematics, Programming and Control by Richard Paul? On page 102 it says: The $...
Radar32's user avatar
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1 answer
68 views

How to rotate a Homogeneous Transformation Matrix about multiple axes?

I am working on a forward kinematics problem where I have already calculated the relevant transformation between the fixed base frame and the end effector frame of the robotic arm using Homogeneous ...
Anubhav Singh's user avatar
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0 answers
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How to transform frames so axis align

I have the location of two sensors, S_1 and S_2 with frames attached to each and I have the frame Transformation that gives S_2 location and orientation with respect to S_1. Additionally I have a ...
FourierFlux's user avatar
0 votes
1 answer
104 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
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0 answers
100 views

How to get an axis in camera coordinate system pybullet?

I am using pybullet to render a robot simulation. This robot have 2 joints and hence, 2 corresponding axes of rotation. I know that when I use getJointInfo on this ...
Anmol Gupta's user avatar
1 vote
1 answer
60 views

Standard Notation/Name for Velocity Transformations

I've been looking to see if there's any standard notation for a matrix to convert an end-effector velocity vector $\xi_n^0 = \begin{bmatrix} v \\ \omega \end{bmatrix}$ from one frame of reference to ...
LadyGodiva2's user avatar
1 vote
1 answer
90 views

Move gantry system to detected position in image plane

I have the following simplified gantry system (cartesian robot) that can move in the x axis direction: My goal is to position the red pointer on top of the target (i.e., I want the real world x-...
Optical_flow_lover's user avatar
1 vote
1 answer
96 views

ROS force vector transformation

In my work, I am using force sensors that provide measurements based on their frame pose in Gazebo. Due to the fact that frames are not constructed based on DH parameters, I need to track the tip's ...
CroCo's user avatar
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1 answer
257 views

Python's all tf frames function in ROS2 only returns some frames

Spining off of 347857#comment that seems ROS1 code, I tried to get all tf frames in Python but the following quick dirty code goes into "No frames" else block, while I verified that tf ...
IsaacS's user avatar
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1 answer
93 views

Are the DH parameters in this text wrong?

An example problem in the textbook I'm reading from has the spherical wrist system and the DH parameter table as shown below: giving us the transformation matrices as below $$ A_4=\left(\begin{array}{...
Abhishek A Udupa's user avatar
1 vote
2 answers
230 views

Question about getting global coordinates of lidar point cloud from relative in Webots

I need to do custom mapping of surroundings with lidar using mobile robot in Webots. What I use for that: GPS for getting robot position. Compass for getting direction robot. Lidar for getting info ...
RavenCloud's user avatar
2 votes
0 answers
55 views

transform IMU reference to robot reference

I have an IMU rigidly attached to the end effector of a robotic arm. The goal is to compare the orientation of the IMU to the orientation of the robot arm. The 9-axis IMU data is used in a sensor ...
user30675's user avatar
0 votes
1 answer
125 views

homogeneous transformation matrix only given sensor extrinsic values

I'm currently dealing with a dataset with points clouds collected by a lidar sensor and radar sensor. Unlike datasets like kitti however, they only provided info about the positions of the sensor ...
jeb2's user avatar
  • 101
1 vote
1 answer
96 views

Denso 6DOF Industrial Robot Flip vs NonFlip

Hello my fellow roboticists! I am working on the forward kinematics of the Denso 6DOF vs087 line of serial robots. In their Users' Manual, they categorize the set of joint configurations by three ...
Max Eisenhardt's user avatar
1 vote
0 answers
33 views

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 ...
furynerd's user avatar
1 vote
1 answer
217 views

How to get transform between two fixed frames using a camera

In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
Lisa9892's user avatar
0 votes
0 answers
169 views

Aligning accelerometer readings with vehicle's frame of reference

I have a device with an accelerometer installed in a vehicle. Its orientation in relation to the vehicle is unknown. So I am looking for a reliable way to align the coordinate system of the ...
user2632002's user avatar
0 votes
1 answer
83 views

Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline

I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
Dmitri K's user avatar
  • 131
2 votes
1 answer
521 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? ...
robo1996's user avatar
0 votes
1 answer
883 views

World and Map Frame for a real robot

I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
robo1996's user avatar
1 vote
1 answer
127 views

Relative rotation and a new reference frame as the rotation of the first object

this is my first post on this forum I have $n$ IMUs which outputs its rotation their matrices in the $XYZ$ world coordinate system $w$. I would like to use multiple IMUs $n$, such as $n_{1}, n_{2}, n_{...
wojtin's user avatar
  • 21
2 votes
1 answer
857 views

How to use Quaternion from IMU to get the transformation to inertial reference frame?

Im trying to get the Linear Velocity integrating the acceleration from IMu. I know there will be accumulated error due to integration bit before the integration I have to do couple of other steps. ...
bob's user avatar
  • 167
0 votes
1 answer
693 views

How to do transformation to get correct linear velocity from linear acceleration IMU data?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
bob's user avatar
  • 167
1 vote
1 answer
784 views

Obtaining Heading vector from IMU

First time here. I'm an electronics engineer who has been tasked with this problem: Given the 4D quaternion representing a vehicle orientation, how do you get the heading vector? The vehicle ...
Pioneer83's user avatar
  • 111
0 votes
2 answers
30 views

Is the translational vector (positon) in transformation matrices in cm or another unit (MATLAB)?

My transformation matrix gives me, for example, x = 0.06, y = 0.27 and z = -0.04 It does not make a lot of sense to me if this is in cm.
Veronique's user avatar
0 votes
2 answers
406 views

How can I input joint angles to transformation matrix to get position in matlab?

I am trying to get the forward kinematics for a robot model in matlab (rigid body tree). I created a 4 x4 transformation matrix from the base to the end-effector using the gettransform() function. I ...
Veronique's user avatar
0 votes
1 answer
2k views

Calculate transform from different poses

My robot is at a starting pose $s_0 = (x_0, y_0, \theta_0)$ and, while moving, I receive a sequence of motion measurements $[\mu_1, \mu_2, \: ... \: \mu_n]$, where $\mu_i = (\Delta x_i, \Delta y_i, \...
Federico Taschin's user avatar
1 vote
3 answers
586 views

calculation sequences when using RPY-transformation vs Euler-transformation

I have trouble understanding calculation sequences for RPY-transformation and Euler-transformation. Let's assume that there are 3 (rotation/translation) instructions. I will notate transformation ...
3XBULL's user avatar
  • 13
1 vote
1 answer
43 views

Elegant way to mathematically relate joint positions (without a root/base joint) for easy re-rooting?

I'm pretty new to robotics, but have learned about the tranformation matrices and how to relate relationships between joints using transformation matrices. I just wonder if there is a system that ...
user7400474's user avatar
0 votes
1 answer
221 views

Transform Velocity data from sensor frame to world frame

I am new to Robotics and transformation topics. I need help in understanding and solving the below problem. I have data (surrounding obstacle position, orientation and velocity) which are in sensor ...
KK2491's user avatar
  • 103
1 vote
1 answer
46 views

orientation transformation

I have a 6-dimensional vector(x,y,z,roll,pitch,yaw) in frame 1, I want to convert it to frame 2 in order to represent the value in frame 2. I know that p2=R12*p1 where p1 is the (xyz) in frame 1. The ...
user12719330's user avatar
0 votes
2 answers
130 views

velocities transformations between frames

In my system, I have two frames. I want to convert my velocities(x,y,z,r,p,y) in frame 1 to be represented in frame 2. Does multiply the linear component and the angular component with the rotation ...
user12719330's user avatar
1 vote
1 answer
429 views

Conveyor Belt Calibration for a Robot - Rotation Matrix

Short Question: As demonstrated in the image below, how can I calculate the rotation matrix that relates the base coordinate and the rectangle coordinate, given 3 known points P1, P2, P3 on the ...
Moayad Hani Abu Rmilah's user avatar