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BUGFIX: Convert angles to radians for quaternion message #26

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Merged
evan-palmer merged 2 commits into from
Jan 7, 2026
Merged

BUGFIX: Convert angles to radians for quaternion message #26

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de06437
Convert angles to radians for quaternion message
cooperrunyan Jan 7, 2026
0914b9e
Move cmath include up to pass github formatting check
cooperrunyan Jan 7, 2026
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6 changes: 4 additions & 2 deletions waterlinked_dvl_driver/src/waterlinked_dvl_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@

#include "waterlinked_dvl_driver/waterlinked_dvl_driver.hpp"

#include <cmath>

#include "rclcpp/rclcpp.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

Expand Down Expand Up @@ -187,7 +189,7 @@ auto WaterLinkedDvlDriver::on_configure(const rclcpp_lifecycle::State & /*previo
dead_reckoning_msg_.pose.pose.position.z = report.z;

tf2::Quaternion q;
q.setRPY(report.roll, report.pitch, report.yaw);
q.setRPY(report.roll * M_PI / 180., report.pitch * M_PI / 180., report.yaw * M_PI / 180.);
dead_reckoning_msg_.pose.pose.orientation = tf2::toMsg(q);

dead_reckoning_msg_.pose.covariance[0] = report.std;
Expand All @@ -212,7 +214,7 @@ auto WaterLinkedDvlDriver::on_configure(const rclcpp_lifecycle::State & /*previo
odom_msg_.pose.pose.position.z = report.z;

tf2::Quaternion q;
q.setRPY(report.roll, report.pitch, report.yaw);
q.setRPY(report.roll * M_PI / 180., report.pitch * M_PI / 180., report.yaw * M_PI / 180.);
odom_msg_.pose.pose.orientation = tf2::toMsg(q);

odom_msg_.pose.covariance[0] = report.std;
Expand Down