Michal Staniaszek heuristicus
LimHyungTae
/ angle_type_conversion.cpp
Last active
December 4, 2023 14:45
ROS quaternion to rotation matrix OR rotation matrix to roll-pitch-yaw OR roll-pitch-yaw to quaternion
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| #include <iostream> | |
| #include <tf/tf.h> | |
| int main(){ | |
| /**< Declaration of quaternion */ | |
| tf::Quaternion q; | |
| q.setW(1); | |
| q.setX(0); | |
| q.setY(0); |
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| #include <tf/tf.h> | |
| #include <nav_msgs/Odometry.h> | |
| #include <geometry_msgs/Pose2D.h> | |
| ros::Publisher pub_pose_; | |
| void odometryCallback_(const nav_msgs::Odometry::ConstPtr msg) { | |
| geometry_msgs::Pose2D pose2d; | |
| pose2d.x = msg->pose.pose.position.x; | |
| pose2d.y = msg->pose.pose.position.y; |