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reference frame for pose obtained by get_model_state

Hello,

I'm retrieving the pose of the models in gazebo by calling the service get_model_state. the pose which i receive contains position(x, y and z coordinates) and rotations (x, y, z, and w in terms of quaternions).

My question is:

This pose is with respect to which frame of reference?? i.e this obtained pose is with respect to world co-ordinate system or something else??

Thanks, Vishal

reference frame for pose obtained by get_model_state

Hello,

I'm retrieving the pose of the models in gazebo by calling the service get_model_state. the pose which i receive contains position(x, y and z coordinates) and rotations (x, y, z, and w in terms of quaternions).

My question is:

This pose is with respect to which frame of reference?? i.e this obtained pose is with respect to world co-ordinate system or something else??

Thanks, Vishal