Note: The coordinate systems used in the Gazebo simulator and in real-world applications (NED) differ slightly, as shown in the images below.

Coordinate System in Gazebo Simulator

Coordinate system in Gazebo

  • Used in the go_on_top() method
  • Found in the Maneuver class (in ball_finder.py)

Coordinate System in Real Life (NED)

Coordinate system in NED

  • Used in the go_on_top2() method
  • Found in the Maneuver class (in ball_finder.py)