API review

Proposer: Tully Foote

Present at review:

• Eric
• Wim
• John
• Tully

Survey

There are many packages using Euler angles throughout the ROS system. It would be nice to standardise as much as possible.

If you know of a package which uses Euler angles please add it to the list below.

Packages with Conventions

• bullet -- Euler YXZ/ZYX
• tf -- Euler YXZ/ZYX
• kdl -- around fixed axes RPY (XYZ), Euler ZYZ/ZYX.
• geometry_msgs: -- around fixed axis RPY (XYZ)
• robot_pose_ekf: -- around fixed axis RPY (XYZ)
• urdf: -- around fixed axis RPY (XYZ)
• kdl_parser: -- around fixed axis RPY (XYZ)
• gazebo: -- around fixed axis rpy (XYZ)

Comments

Meeting agenda

• This will start with a survey from now until Tuesday.
• Tuesday I will gather the results and try to develop a consensus.

Conclusion

• Standardize on fixed axis RPY (XYZ)

• Add setRPY/getRPY methods to bullet.

• Deprecate confusing usages of quaternion and matrix3x3 constructor and setEulerZYX as they are contaminated.

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