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simple_offboard: fix yaw transformation

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This commit is contained in:
Oleg Kalachev
2018-09-05 20:29:14 +03:00
parent 2bedc6cd31
commit bc7fb94d63
1 changed files with 4 additions and 4 deletions
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8
clever/src/simple_offboard.py
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@@ -165,7 +165,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
if update_frame:
ps.header.frame_id = req.frame_id or LOCAL_FRAME
ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
ps.pose.orientation = orientation_from_euler(0, 0, req.yaw, axes='sxyz')
current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
if isinstance(req, srv.NavigateGlobalRequest):
@@ -189,7 +189,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
(PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
position=setpoint,
yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'sxyz')[2],
yaw_rate=req.yaw_rate)
return position_pub, msg
@@ -208,7 +208,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
(PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
position=pose_local.pose.position,
yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
yaw=euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2],
yaw_rate=req.yaw_rate)
return position_pub, msg
@@ -226,7 +226,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
(PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
velocity=vector_local.vector,
yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
yaw=euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2],
yaw_rate=req.yaw_rate)
return position_pub, msg