Issue Type

• 🐛 Bug / Problem
• ✏️ Typo / Grammar
• 📖 Outdated Content
• 🚀 Enhancement

Generated by Generative AI

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Distribution

ROS2 Kilted, Humble ( probably all version)

Description

At the section of quaternion fundamentals in the subsection of 'relative rotaion', there are two issues.
1 - The convention of quaternion representaion in an array in the function definition is [w,x,y,z] not consistent with the passed arrays [x,y,z,w].

2- It is mentioned that the inverse of a unit quaternion is simply the negation of w, which is incorrect, representing the quaternion as the array of [w,x,y,z], the inverse is [w, -x,-y,-z].

Affected Pages/Sections

https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Quaternion-Fundamentals.html

Screenshots or Examples (if applicable)

Suggested Fix

No response

Additional Context

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