Clarify quaternion ordering#6688
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@kscottz just added the clarification comments in the code block regarding the quaternion. Kindly check. Also, I am new to git, so I really don't know if I'm doing this right. Lmk if I did something wrong. Thank you. |
This was referenced May 12, 2026
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Thanks for this comment it's helpful to clarify this. One request to move it up into the return value documentation to make it easier for tools to pick up and make this comment visible for those introspecting the API.
| # Create a 4 element array containing the final quaternion | ||
| final_quaternion = np.array([q0q1_w, q0q1_x, q0q1_y, q0q1_z]) | ||
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Could you add this note in the return value docs above for better visibility to tools and users.
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Adds a clarification comment to the quaternion_multiply example in the Quaternion Fundamentals tutorial.
The helper function returns the quaternion in (w, x, y, z) order, while ROS 2 commonly represents quaternions as (x, y, z, w). This comment helps make the ordering difference clearer for readers following the tutorial.
Fixes ros2/lyrical_tutorial_party#2970 , ros2/lyrical_tutorial_party#2971 , ros2/lyrical_tutorial_party#2972 , ros2/lyrical_tutorial_party#2973
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This change only improves documentation clarity and does not modify the implementation logic.