From: Walter D. M. <wma...@st...> - 2004-06-01 09:11:52
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Andrew, Kayur and I have developed a TruthWidget for Player for 3D positioning in Gazebo. We can now set a position using SetPose(xpos, ypos, zpos, roll, pitch, yaw). However, when we poll the GetPose() function, we seem to be getting orientation skew for the euler angles. The euler angles start at the set position, but change by a varying offset. For examples, if we set the yaw at 90 degrees and the pitch at 0 degrees, the yaw will change to 83 degrees over the course of a half second. However, once reaching a yaw of 83 degrees, it maintains that orientation. In another instance, setting the yaw at 90 degrees and the pitch at 45 degrees, the yaw will change to 87 degrees and the pitch will change to 43 degrees. We are confident that the code we wrote is bug-free (it was a straight-forward implementation from the 2D TruthWidget). Do you have any idea of what would cause the orientation skew? Thanks, Walter |