Question: What are those lines used for?

[Bozenton]

Hi there,
Thanks for your sharing of the repo, I am reading your code and notice those lines:

humanoid_base_footprint/src/base_footprint.cpp

Lines 140 to 152 in 2e9c85b

	// Convert tf to eigen quaternion
	Eigen::Quaterniond eigen_quat
	(odom.transform.rotation.w, odom.transform.rotation.x, odom.transform.rotation.y,
	odom.transform.rotation.z);
	// can't use this out of some reasons tf2::convert(odom.transform.rotation, eigen_quat);
	// Remove yaw from quaternion
	Eigen::Quaterniond eigen_quat_out;
	rot_conv::QuatNoEYaw(eigen_quat, eigen_quat_out);
	// Convert eigen to tf quaternion
	tf2::Quaternion tf_quat_out;
	tf2::convert(eigen_quat_out, tf_quat_out);

It seems that those lines are never used later in the other part of the code. So I am wondering what they are used for?

Hope for your answer sincerely.

[SammyRamone]

As far as I can see it is not used. It looks like this was first coded to get the orientation but was then solved by another approach in the lines below. I guess it can just be removed. Maybe @jgueldenstein can have a look to make sure

[jgueldenstein]

I have not touched this code in a very long time. I think @Flova would be the best candidate to know why this is there. It also seems to me that it can be deleted as it is not used afterwards.

[Flova]

Good catch. There is some duplication there. I would prefer using the rot_conv based version that is currently unused. Both methods just remove the yaw rotation component from the odometry, to estimate the pitch and roll of the robot relative to the base footprint frame on the ground.