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turning turtlebot a set number of degrees

asked 2012-07-23 06:50:35 -0600

Rydel
600 ●18 ●27 ●42 http://www.stthomas.ed...

I'm looking for a way to turn my robot a certain angle in a cpp node. I have read through these questions:

http://answers.ros.org/question/12557/how-to-make-the-turtlebot-rotate-in-place-a-set-of/

The above made sense, so then I looked for a way to acquire the heading of the robot,

http://answers.ros.org/question/30926/getting-turtlebot-heading/

The user in the above question can already get their robot's quaternion data and I cannot making the answer not very helpful. Could someone explain an efficient way to acquire the robot's quaternion data and explain how the answer in the 2nd link works?

Thanks!

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I think this could help.

http://www.theconstructsim.com/ros-qa...

arminf82 ( 2019-09-28 15:43:11 -0600 )edit

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answered 2012-07-23 12:39:41 -0600

joq
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I don't have a turtlebot, but some node should be publishing nav_msgs/Odometry, probably as an /odom or /odom_combined topic.

The orientation field in that message contains a quaternion indicating your robot's 3-dimensional orientation. Converting that to a yaw angle should give your 2-dimensional heading, if that is what you want.