Wrong Euler convention used for tf2_echo

Open doisyg opened this issue 1 year ago • 2 comments

Bug report

Required Info:

Operating System: Ubuntu 22.04
Installation type:
- Latest Iron bin

Steps to reproduce issue

Query a 3d transform

ros2 run tf2_ros tf2_echo frame_b frame_a

Expected behavior

Display RPY Euler rotation

Actual behavior

YPR Euler rotation is displayed

Additional information

Due to https://github.com/ros2/geometry2/blob/0ea2ad3ee99d2e3ffcb1f04286d22edfeffb2e1c/tf2_ros/src/tf2_echo.cpp#L159

Apr 04 '24 13:04 doisyg

Still displayed in RPY convention - just the getter is YPR https://github.com/ros2/geometry2/blob/0ea2ad3ee99d2e3ffcb1f04286d22edfeffb2e1c/tf2_ros/src/tf2_echo.cpp#L161

Apr 14 '24 21:04 scott-robotics

Yes but then depending on the transformation queried, displaying in the order Roll Pitch Yaw, doesn't make it RPY convention ;)

Apr 14 '24 22:04 doisyg

Closing as I must have been really confused when I opened this issue and I don't see a problem anymore

Apr 21 '24 17:04 doisyg