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Fixed rpy representation of quaternions following robotics ZYX order. #340

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Fixed rpy representation of quaternions following robotics ZYX order. #340

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charlielito
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User-Facing Changes
Fixed rpy representation of quaternions following robotics ZYX order.

Description
Fixes #339

Checklist

  • The web version was tested and it is running ok
  • The desktop version was tested and it is running ok
  • This change is covered by unit tests
  • Files constants.ts, types.ts and *.style.ts have been checked and relevant code snippets have been relocated

@charlielito
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I tested it and now it works as expected in the example shared in the issue.
correct_rpy1
correct_rpy2

@charlielito
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I also saw this conversion in

lichtblick/packages/suite-base/src/panels/ThreeDeeRender/renderables/FrameAxes.ts

Line 572 in c801bb0

tempEuler.setFromQuaternion(tempQuaternion, "XYZ");
but I don't know if that's also intended or also a part of this issue affecting something else (I don't know very well the code base)

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Successfully merging this pull request may close these issues.

Reported rpy angles in quaternions in orientation topics are broken
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@charlielito