Coordinate systems (frames)

Documentation for the image, versions, starting with 0.15. For older versions refer to documentation for version 0.14.

Clever coordinates systems (TF2)

Main frames in package clever:

  • map coordinates relative to the point of flight controller initialization: the white grid in the illustration;
  • base_link — coordinates relative to the quadcopter: schematic image of the quadcopter in the illustration;
  • body — coordinates relative to the quadcopter regardless of pitch and roll: red, blue and green lines in the illustration.

In accordance with the agreement, for frames associated with the copter, the X-axis directed forward, Y – to the left, and Z – up.

More clearly, 3D visualization of the coordinate systems can be viewed using rviz.

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