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cs:coord_system:start [2016/11/04 21:28] Brandon Kallaher |
cs:coord_system:start [2017/10/05 15:29] (current) Sean Kallaher Added TF information |
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| ====== Coordinate System ====== | ====== Coordinate System ====== | ||
| - | The coordinate system is **currently** RIGHT handed axes and RIGHT handed rotations. The axes are as follows: | + | ===== Global Frame ===== |
| + | The global frame is such that the x,y origin is at the pinger, and z=0 is at the surface. Positive z is up. Yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector. | ||
| - | Axes: | + | |
| + | ===== Axes ===== | ||
| * X+ - front of the sub | * X+ - front of the sub | ||
| Line 9: | Line 11: | ||
| * Z+ - above the sub | * Z+ - above the sub | ||
| - | Rotations: | + | ===== Rotations ===== |
| * Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) (Yaw **Left** positive) | * Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) (Yaw **Left** positive) | ||
| * Roll+ - Counterclockwise around X+ axis (Roll **Right** is positive) | * Roll+ - Counterclockwise around X+ axis (Roll **Right** is positive) | ||
| * Pitch+ - Counterclockwise around Y+ axis (Pitch **Down** is positive) | * Pitch+ - Counterclockwise around Y+ axis (Pitch **Down** is positive) | ||
| + | |||
| + | |||
| + | ===== TF Frames ===== | ||
| + | |||
| + | * ''world'' - Global frame defined above | ||
| + | * ''cobalt'' - The frame defining the sub's orientation relative to the ''world'' frame based upon the localization node output. | ||
| + | * ''cobalt_sim'' - The frame defining the sub's orientation relative to the ''world'' frame based upon Gazebo's output. | ||
| + | |||
| + | ==== TF Graph ==== | ||
| + | |||
| + | A visual representation of the TF tree will be placed here in future. | ||
