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BlueAndi / RadonUlzer

Line follower, platooning, sensor fusion with DroidControlSystem and etc.

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Change odometry orientation range

BlueAndi opened this issue · comments

commented

The standard convention typically used in ROS (and ROS2) for Euler angles is:

  • Roll: [-π, π] (or -180° to 180°)
  • Pitch: [-π/2, π/2] (or -90° to 90°)
  • Yaw: [-π, π] (or -180° to 180°)

In many conventions used in robotics and computer graphics, including ROS (Robot Operating System), yaw angle rotation is typically defined as positive when turning counterclockwise and negative when turning clockwise.

This convention aligns with the right-hand rule, where positive rotation is in the direction of your curled fingers when your thumb points in the positive axis direction (in this case, the positive Z-axis).

So, to clarify:

Counterclockwise rotation around the Z-axis (yaw) is positive.
Clockwise rotation around the Z-axis (yaw) is negative.

https://www.ros.org/reps/rep-0103.html#rotation-representation