Gazebo | Ignition | Community
Ask Your Question

Mismatch between pose of a model in sdf & simulation [closed]

asked 2022-02-28 06:44:47 -0600

user1928 gravatar image

updated 2022-03-02 00:21:08 -0600


I want to use a camera in Gazebo & used the model from I changed the pose of the camera in its sdf file as follows (& saved it):

 <pose>0 0 0.5 0 1.5708 1.5708</pose>

But, if I launch gazebo & insert the camera model from GUI & check its properties, I see different roll, pitch & yaw: image description

What is happening here?

P.S: 1) I'm using Gazebo11 on Ubuntu 20.04

P.S: 2) This is my camera's sdf file(I'm using a plugin to read camera feed in ROS):

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="camera">
    <pose>0 0 0.5 0 1.5708 1.5708</pose>
    <link name="link">
      <collision name="collision">
            <size>0.1 0.1 0.1</size>
      <visual name="visual">
            <size>0.1 0.1 0.1</size>
      <sensor name="camera" type="camera">
        <plugin name="camera_controller" filename="">
edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by user1928
close date 2022-03-02 01:44:54.998399

1 Answer

Sort by ยป oldest newest most voted

answered 2022-03-02 01:43:48 -0600

user1928 gravatar image

Never mind.

Both are equivalent representations. Follow the rule: First roll around x, then pitch around y and finally yaw around z

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2022-02-28 06:44:47 -0600

Seen: 58 times

Last updated: Mar 02 '22