Comments (2)
vrabaud
commented on July 20, 2024
Your implementation does not take into account the gimbal lock. You should probably use:
https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2/include/tf2/impl/utils.h#L123
(not yet released but in master ...)
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stonier
commented on July 20, 2024
You have too much spare time vincent! 
Thanks for the pointer! Was just a simple utility we can put on the arm board, but good to have it corrected so I don't copy a bad calculation later.
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