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FIX ROS2 transformation calculation #9123

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merged 1 commit into from
Aug 7, 2025
Merged

FIX ROS2 transformation calculation #9123

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13 changes: 8 additions & 5 deletions LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,13 +30,16 @@ geometry_msgs::msg::Transform CarlaTransformPublisher::ComputeTransform(std::str
}
}

// Better readability
const float tx = transform.location.x;
const float ty = transform.location.y;
const float ty = transform.location.y * -1.0f;
const float tz = transform.location.z;

const float rx = (transform.rotation.pitch * -1.0f) * (float(M_PI_2) / 180.0f);
const float ry = (transform.rotation.yaw * -1.0f) * (float(M_PI_2) / 180.0f);
const float rz = transform.rotation.roll * (float(M_PI_2) / 180.0f);
// Rotations was not correctly computed Radians = Degrees * (π / 180)
const float DEG_TO_RAD = float(M_PI) / 180.0f;
const float rx = (transform.rotation.pitch * -1.0f) * DEG_TO_RAD;
const float ry = (transform.rotation.yaw * -1.0f) * DEG_TO_RAD;
const float rz = transform.rotation.roll * DEG_TO_RAD;

const float cr = cosf(rz * 0.5f);
const float sr = sinf(rz * 0.5f);
Expand All @@ -48,7 +51,7 @@ geometry_msgs::msg::Transform CarlaTransformPublisher::ComputeTransform(std::str
geometry_msgs::msg::Transform tf;

tf.translation().x(tx);
tf.translation().y(-ty);
tf.translation().y(ty);
tf.translation().z(tz);

tf.rotation().w(cr * cp * cy + sr * sp * sy);
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