C++ 轴约定之间的转换-ROS和OSVR

长话短说，我正在集成两个具有不同轴约定的系统

在OSVR中，x是正确的，y是向上的，z是接近的

在ROS中，x向前，y向左，z向上

我需要在他们之间转换。如果不这样做，旋转中会出现奇怪的行为。例如，当面向北方时，真实俯仰在ROS中显示为俯仰，但当面向西方时，真实俯仰在ROS中变为偏航

我编写了一些C++代码来执行转换，但这两个代码仍然不匹配。

namespace osvr_axis_conversion {

void osvrPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg) { // osvr to ros
    geometry_msgs::PoseStamped outputMsg;

    outputMsg.header = msg->header;
    outputMsg.pose.orientation.x = msg->pose.orientation.y;
    outputMsg.pose.orientation.y = msg->pose.orientation.z;
    outputMsg.pose.orientation.z = msg->pose.orientation.x;
    outputMsg.pose.orientation.w = msg->pose.orientation.w;

    osvrPosePub.publish(outputMsg);
    ros::spinOnce();
}

void osvrTwistCallback(const geometry_msgs::TwistStampedConstPtr &msg) { // osvr to ros
    geometry_msgs::TwistStamped outputMsg;

    //outputMsg = *msg;
    //outputMsg.twist = msg->twist;
    outputMsg.header = msg->header;
    outputMsg.twist.angular.x = msg->twist.angular.y;
    outputMsg.twist.angular.y = msg->twist.angular.z;
    outputMsg.twist.angular.z = msg->twist.angular.x;
    osvrTwistPub.publish(outputMsg);
    ros::spinOnce();
}

void odometryCallback(const nav_msgs::OdometryConstPtr &msg) { // ros to osvr
    // Do the reverse of the above!
    nav_msgs::Odometry outputMsg;
    outputMsg = *msg;

    outputMsg.pose.pose.position.x = msg->pose.pose.position.z;
    outputMsg.pose.pose.position.y = msg->pose.pose.position.x;
    outputMsg.pose.pose.position.z = msg->pose.pose.position.y;

    outputMsg.pose.pose.orientation.x = msg->pose.pose.orientation.z;
    outputMsg.pose.pose.orientation.y = msg->pose.pose.orientation.x;
    outputMsg.pose.pose.orientation.z = msg->pose.pose.orientation.y;
    outputMsg.pose.pose.orientation.w = msg->pose.pose.orientation.w;

    outputMsg.twist.twist.linear.x = msg->twist.twist.linear.z;
    outputMsg.twist.twist.linear.y = msg->twist.twist.linear.x;
    outputMsg.twist.twist.linear.z = msg->twist.twist.linear.y;

    outputMsg.twist.twist.angular.x = msg->twist.twist.angular.z;
    outputMsg.twist.twist.angular.y = msg->twist.twist.angular.x;
    outputMsg.twist.twist.angular.z = msg->twist.twist.angular.y;

    // IMPORTANT: We're not handling the covariance here, so it's wrong
    //   in the output! This is being sent to the OSVR driver which doesn't
    //   use the covariance data.

    odometryPub.publish(outputMsg);
    ros::spinOnce();
}

}

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如何在两个轴约定之间进行转换，使OSVR耳机上的传感器和ROS中附加在其上的传感器之间的姿势相同？

这个问题可能会更好地发布在：您可以制作旋转器（或矩阵）并应用它。在你的例子中，你需要两次旋转——ROS到OSVR需要绕Y旋转90度，X旋转90度，OSVR到ROS需要反向旋转。之后，只需申请位置和旋转。