From 0bfd6bd839b2fe3ab97bda8ddc9555e9a91ea6c8 Mon Sep 17 00:00:00 2001 From: hello-jesus <141784078+hello-jesus@users.noreply.github.com> Date: Wed, 9 Aug 2023 08:48:40 -0700 Subject: [PATCH] Update align_to_aruco.md --- ros2/align_to_aruco.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2/align_to_aruco.md b/ros2/align_to_aruco.md index 4c0e879..7d0c867 100644 --- a/ros2/align_to_aruco.md +++ b/ros2/align_to_aruco.md @@ -103,7 +103,7 @@ To compute the (x, y) coordinates of the SE2 pose goal, we compute the transform base_position_y = P_base[1, 0] ``` -From this, it is relatively straightforward to compute the angle **ph**i and the euclidean distance **dist**. We then compute the angle z_rot_base to perform the last angle correction. +From this, it is relatively straightforward to compute the angle **phi** and the euclidean distance **dist**. We then compute the angle z_rot_base to perform the last angle correction. ```python phi = atan2(base_position_y, base_position_x)