Questions tagged [coordinate-system]
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39 questions
0 votes
1 answer
52 views
Camera frame behaves incorrectly in ORB-SLAM3 ROS RGBD
I am using the ros_rgbd node in ORB-SLAM3. When I start RViz, the generated map frame follows the standard ROS coordinate convention: Z up X forward Y left At the beginning, the camera frame is ...
1 vote
0 answers
22 views
Actuate arbitrary rotation with three axes of motion
I have a rig with the ability to actuate rotation along the azimuth, elevation and polarization axes. I am wanting to compensate for the rig being arbitrarily inclined, which could result in, e.g., an ...
- 11
0 votes
1 answer
225 views
Twist coordinate frame when using `gz-sim-odometry-publisher-system`
I'm trying to understand the coordinate frame used when employing the gz-sim-odometry-publisher-system plugin in an .sdf file: <...
- 23
2 votes
1 answer
233 views
Incorrect coordinate system for robot model in Rviz2 when launching urdf
I was able to launch my robot model in rviz2 - however I used the Solidworks to URDF exporter to generate my urdf file which I have found to be very unstable. For this reason I just let it use ...
1 vote
0 answers
166 views
1 vote
1 answer
28 views
Which way should angles be measured given a coordinate frame, according to convention? And if going against convention what are the implications?s
Note: My application is not robotics, but purely theoretical. I have been suggested to ask this question on the robotics forum. The results of the project could easily be applied to robotics however ...
0 votes
2 answers
946 views
Confusion on TF2 frame name conventions, base_link vs odom?
I was reading about TF2 frame name conventions for mobile robots: https://www.ros.org/reps/rep-0105.html and I'm confused on how base_link and odom frames are related, odom gives the location of the ...
- 435
0 votes
1 answer
58 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 $...
- 3
1 vote
1 answer
994 views
Conversion of roll, pitch and yaw from ENU to NED
I have roll, pitch and yaw values in an ENU frame. How can I convert it into a NED frame?
0 votes
1 answer
140 views
How are these equivalent rotation coordinates related?
I am using a 6 DOF UR5 robotic arm. I am successfully sending it commands in the [X,Y,Z,RX,RY,RZ] format. When I read back these coordinates, I find that the X, Y, Z values are the same but the RX, RY,...
- 1
0 votes
1 answer
410 views
How do I convert a set of coordinate and rotation values
I'm an electrical engineer who needs to use a robot for their first time. I have a UR5 that I'm controlling through the rtde interface via Python. It seems that what I'm trying to do must be something ...
- 1
0 votes
0 answers
192 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 ...
0 votes
1 answer
147 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) ...
- 131
0 votes
1 answer
281 views
How the motor commands are obtained from gcodes?
I have started my research with scara and cartesian robots for drawing robot. The gcodes are converted and given to robot. There are firmware like grbl, marlin, etc for this process. But I couldn't ...
0 votes
1 answer
154 views
How to extract robots coordinates using ICP algo
I would like to know How to extract robots localization from the icp or ndt algo, currently I'm using scan registration for this reason
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