From e30f9939c073c2771b07390946402aebc05566ac Mon Sep 17 00:00:00 2001 From: anre Date: Mon, 24 Aug 2020 17:41:30 +0200 Subject: [PATCH] Fix errors while orientation covariance visualization in CovarianceVisual --- src/rviz/default_plugin/covariance_visual.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/rviz/default_plugin/covariance_visual.cpp b/src/rviz/default_plugin/covariance_visual.cpp index 8eb4d11643..5f422b50c5 100644 --- a/src/rviz/default_plugin/covariance_visual.cpp +++ b/src/rviz/default_plugin/covariance_visual.cpp @@ -273,7 +273,7 @@ CovarianceVisual::CovarianceVisual(Ogre::SceneManager* scene_manager, // x-axis (roll) orientation_offset_node_[kRoll]->setPosition(Ogre::Vector3::UNIT_X); orientation_offset_node_[kRoll]->setOrientation( - Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3::UNIT_X) * + Ogre::Quaternion(Ogre::Degree(-90), Ogre::Vector3::UNIT_X) * Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3::UNIT_Z)); // y-axis (pitch) orientation_offset_node_[kPitch]->setPosition(Ogre::Vector3(Ogre::Vector3::UNIT_Y)); @@ -282,7 +282,8 @@ CovarianceVisual::CovarianceVisual(Ogre::SceneManager* scene_manager, // z-axis (yaw) orientation_offset_node_[kYaw]->setPosition(Ogre::Vector3(Ogre::Vector3::UNIT_Z)); orientation_offset_node_[kYaw]->setOrientation( - Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3::UNIT_X)); + Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3::UNIT_Z) * + Ogre::Quaternion(Ogre::Degree(-90), Ogre::Vector3::UNIT_X)); // z-axis (yaw 2D) // NOTE: rviz use a cone defined by the file rviz/ogre_media/models/rviz_cone.mesh, and it's // origin is not at the top of the cone. Since we want the top to be at the origin of