Normalize quaternions #40
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wjwwood
approved these changes
Jan 5, 2018
| quaternion_msg.x *= s | ||
| quaternion_msg.y *= s | ||
| quaternion_msg.z *= s | ||
| quaternion_msg.w *= s |
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As mentioned in the other thread, we should consider providing a function to do this for users.
Ideally in both C++ and Python, perhaps it could live in sensor_msgs or similar. There's precedence for this (a message package providing extra API to work with certain messages).
Doesn't need to be done right this second, but it should be used here when it is made available.
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Unnormalised quaternions will give warnings in rviz as of ros-visualization/rviz#1182
I've tested all of the tutorials in this repo now and they don't give warnings anymore.