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4 votes
Accepted

How do you write unit tests for robotics related software?

Your statement about the need to reimplement the same feature in order to test it could be applied for all software which needs to be unit-tested and it is not specific only to your problem. A unit ...
50k4's user avatar
  • 6,682
2 votes
Accepted

Conveyor Belt Calibration for a Robot - Rotation Matrix

A general approach would be to construct a so called axis-angle representation and convert that to a rotation matrix representation. On order to do so, one could start with a normal vector of the ...
50k4's user avatar
  • 6,682
2 votes
Accepted

Range of a heading angle [0,2π) or [−π,π)

No difference at all although φ∈[−π,π) is much more reasonable and intuitive. It is just a matter of system definition.
Chanoh Park's user avatar
  • 1,577
2 votes

How do I convert a set of coordinate and rotation values

What you are looking for here is homogeneous transformation matrices. The purpose of these matrices is to seamlessly integrate rotation and translations into one matrix that acts as a change of ...
domo_arigato's user avatar
2 votes

Confusion on TF2 frame name conventions, base_link vs odom?

The odom -> base_link transform is published by the odometry system of your robot (from wheel encoders, IMU, etc.). on the other hand, your navigation system is ...
Diego Carvajal's user avatar
2 votes

Conversion of roll, pitch and yaw from ENU to NED

ENU = East, North, Up NED = North, East, Down So, if you have x_ENU, y_ENU, and z_ENU, then: ...
Chuck's user avatar
  • 16k
1 vote

Which way should angles be measured given a coordinate frame, according to convention? And if going against convention what are the implications?s

Anticlockwise angle is simply a mathematical and physical convention, but it's universal in the mathematical and scientific cultures I'm familiar with. If you have something intuitive or aesthetic to ...
danzimmerman's user avatar
1 vote

How are these equivalent rotation coordinates related?

They are written in the angle-axis representation. In the angle axis representation, the direction of the 3d vector gives the axis of rotation (rotates counter clockwise around it). These two ...
Raggy's user avatar
  • 128
1 vote

How the motor commands are obtained from gcodes?

The main role of the CNC controller is to "convert" G Code to motor commands. This is a highly complex function and many books have been written about this. As a top level overview, the G-...
50k4's user avatar
  • 6,682
1 vote
Accepted

Compute path in absolute frame from sequence of measurements

Assuming frame $0$ is the 'absolute frame', if we let $^j P_i$ be the $i^{th}$ position/orientation expressed in the $j^{th}$ coordinate frame, then what you're asking for is the sequence $$\{(^0P_i)...
doggie_breath's user avatar
1 vote

Compute path in absolute frame from sequence of measurements

Each step can be represented by its transformation matrix, $$ \begin{bmatrix} \cos{\theta'_{i}} & -\sin{\theta'_{i}} & x'_{i}\\ \sin{\theta'_{i}} & \phantom{-}\cos{\theta'_{i}} & y'_{...
RLH's user avatar
  • 619

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