Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Wed, 09 Oct 2019 06:03:52 -0500Standard Units of Measure and Coordinate Conventions in Gazebohttp://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/I just wonder what are the standard units of measure in Gazebo? Is there anything like ROS [REP 103](http://www.ros.org/reps/rep-0103.html) to standardize the units?Thu, 16 Apr 2015 09:19:29 -0500http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/Answer by laiquddin for <p>I just wonder what are the standard units of measure in Gazebo? Is there anything like ROS <a href="http://www.ros.org/reps/rep-0103.html">REP 103</a> to standardize the units?</p>
http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?answer=23927#post-id-23927Try this unit conversion site .Wed, 09 Oct 2019 06:03:52 -0500http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?answer=23927#post-id-23927Answer by chapulina for <p>I just wonder what are the standard units of measure in Gazebo? Is there anything like ROS <a href="http://www.ros.org/reps/rep-0103.html">REP 103</a> to standardize the units?</p>
http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?answer=8499#post-id-8499As far as I know, there's no complete documentation like the ROS REP 103.
In general, Gazebo uses [SI](http://en.wikipedia.org/wiki/International_System_of_Units) units, for example:
- length: meter (m)
- mass: kilogram (Kg)
- time: second (s)
- angle: radian ([gazebo::math::Angle::Degree()](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1math_1_1Angle.html#a10a0c78fdec2745bd59d1330ab50548f) to convert to degrees)
- force: Newton (N)
Coordinate frames are right-handed, with `Z` up, `X` forward and `Y` to the left.
Euler angles follow the roll (about X axis), pitch (about Y axis), yaw (about Z axis) order about a fixed reference frame.Thu, 16 Apr 2015 18:18:51 -0500http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?answer=8499#post-id-8499Comment by chapulina for <p>As far as I know, there's no complete documentation like the ROS REP 103.</p>
<p>In general, Gazebo uses <a href="http://en.wikipedia.org/wiki/International_System_of_Units">SI</a> units, for example:</p>
<ul>
<li>length: meter (m)</li>
<li>mass: kilogram (Kg)</li>
<li>time: second (s)</li>
<li>angle: radian (<a href="http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1math_1_1Angle.html#a10a0c78fdec2745bd59d1330ab50548f">gazebo::math::Angle::Degree()</a> to convert to degrees)</li>
<li>force: Newton (N)</li>
</ul>
<p>Coordinate frames are right-handed, with <code>Z</code> up, <code>X</code> forward and <code>Y</code> to the left.</p>
<p>Euler angles follow the roll (about X axis), pitch (about Y axis), yaw (about Z axis) order about a fixed reference frame.</p>
http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?comment=22978#post-id-22978Correct! ;)Wed, 19 Jun 2019 11:28:08 -0500http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?comment=22978#post-id-22978Comment by VansFannel for <p>As far as I know, there's no complete documentation like the ROS REP 103.</p>
<p>In general, Gazebo uses <a href="http://en.wikipedia.org/wiki/International_System_of_Units">SI</a> units, for example:</p>
<ul>
<li>length: meter (m)</li>
<li>mass: kilogram (Kg)</li>
<li>time: second (s)</li>
<li>angle: radian (<a href="http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1math_1_1Angle.html#a10a0c78fdec2745bd59d1330ab50548f">gazebo::math::Angle::Degree()</a> to convert to degrees)</li>
<li>force: Newton (N)</li>
</ul>
<p>Coordinate frames are right-handed, with <code>Z</code> up, <code>X</code> forward and <code>Y</code> to the left.</p>
<p>Euler angles follow the roll (about X axis), pitch (about Y axis), yaw (about Z axis) order about a fixed reference frame.</p>
http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?comment=22976#post-id-22976So, If I have 0.1 of length, it means that it is 0.1 meters. Is that correct? Thanks a lot.Wed, 19 Jun 2019 10:47:29 -0500http://answers.gazebosim.org/question/8497/standard-units-of-measure-and-coordinate-conventions-in-gazebo/?comment=22976#post-id-22976