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This repository was archived by the owner on Feb 3, 2025. It is now read-only.
The <spherical_coordinates> tag in sdformat declares itself to be using an East-North-Up (ENU) coordinate frame in spherical_coordinates.sdf (though rather indirectly, the language there should be clarified).
However, the gazebo SphericalCoordinates class appears to be using a West-South-Up (WSU) coordinate frame. I've committed a test in 67dde67 (branch spherical_coordinates_enu) showing the failure.
Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).
The
<spherical_coordinates>tag in sdformat declares itself to be using an East-North-Up (ENU) coordinate frame in spherical_coordinates.sdf (though rather indirectly, the language there should be clarified).However, the gazebo
SphericalCoordinatesclass appears to be using a West-South-Up (WSU) coordinate frame. I've committed a test in 67dde67 (branchspherical_coordinates_enu) showing the failure.