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2013-09-27 03:18:13 -0600 asked a question Gazebo Reference Frame with Z Pointing Downward

Hi everybody,

I'm working on a university project that asks me to implement an algorithm for recovering ego-motion of a UAV based on optical flow. To do this I need to create a 3D environment with Gazebo, and so my problem is: in the paper where the algorithm is presented all reference frames are with Z axis pointing downward, is there a way in Gazebo to use this convention?

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2013-07-25 02:45:32 -0600 asked a question Angular Velocity Physical Meaning

Hi everybody, I'm simulating a quadrotor in Gazebo and I'm using the "gazebo/get_model_state" service in order to retrieve the quadrotor angular velocity. My question is: in this way do I get angular rates or euler angles derivatives? I remember that this detail was specified somewhere in Gazebo documentation but I'm not able to find it anymore, any help would be appreciated. Thanks