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cs:coord_system:start [2016/11/15 20:14] James Irwin [Global Frame] |
cs:coord_system:start [2017/10/05 15:29] (current) Sean Kallaher Added TF information |
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| ===== Global Frame ===== | ===== Global Frame ===== | ||
| - | We propose the global frame to be such that the origin is relative to the pinger, and yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector. | + | 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. |
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| * 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) | ||
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| + | ===== TF Frames ===== | ||
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| + | * ''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. | ||
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| + | ==== TF Graph ==== | ||
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| + | A visual representation of the TF tree will be placed here in future. | ||
