ENU frame

[futuristic2023]

how to view the enu frame i followed the previous issues related to it but it not helping
can you please share this how to view enu frame

[MartyG-RealSense]

Hi @shivangi-futuristicbots Considering your earlier issue at #2642 I wonder if the question is actually 'How to view odometry'. If it is then the link below provides guidance about viewing odometry in Rviz.

http://wiki.ros.org/rviz/DisplayTypes/Odometry

[futuristic2023]

i meant robot_localization assumes an ENU frame for all IMU data, so is this set by default or do i have to set it as a parameter?

[MartyG-RealSense]

In the ROS map convention information at the link below, it states that when defining coordinate frames with respect to a global reference like the earth, the default should be to align the x-axis east, y-axis north, and the z-axis up at the origin of the coordinate frame. This convention is ENU, which stands for East, North, Up.

East is X, North is Y and Up is Z.

My understanding is that by default ROS uses FLU (Forward, Left, Up) where X is forward, Y is left and Z is up), as confirmed by the creator of the RealSense ROS1 wrapper at #1099 (comment)

[MartyG-RealSense]

Hi @shivangi-futuristicbots Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.