fix(ros2): correct degree-to-radian conversion in transform publisher

The rotation conversion was incorrectly using M_PI_2 (pi/2) instead of
M_PI (pi) in the degree-to-radian formula, producing angles that were
half the correct value. Also negate the y-axis translation at the source
instead of after quaternion computation for consistency with ROS
coordinate conventions.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp

@@ -30,13 +30,16 @@ geometry_msgs::msg::Transform CarlaTransformPublisher::ComputeTransform(std::str
     }
   }
 
+  // Better readability
   const float tx = transform.location.x;
-  const float ty = transform.location.y;
+  const float ty = transform.location.y * -1.0f;
   const float tz = transform.location.z;
 
-  const float rx = (transform.rotation.pitch * -1.0f) * (float(M_PI_2) / 180.0f);
-  const float ry = (transform.rotation.yaw * -1.0f) * (float(M_PI_2) / 180.0f);
-  const float rz = transform.rotation.roll * (float(M_PI_2) / 180.0f);
+  // Rotations was not correctly computed Radians = Degrees * (π / 180)
+  const float DEG_TO_RAD = float(M_PI) / 180.0f;
+  const float rx = (transform.rotation.pitch * -1.0f) * DEG_TO_RAD;
+  const float ry = (transform.rotation.yaw * -1.0f) * DEG_TO_RAD;
+  const float rz = transform.rotation.roll * DEG_TO_RAD;
 
   const float cr = cosf(rz * 0.5f);
   const float sr = sinf(rz * 0.5f);
@@ -48,7 +51,7 @@ geometry_msgs::msg::Transform CarlaTransformPublisher::ComputeTransform(std::str
   geometry_msgs::msg::Transform tf;
 
   tf.translation().x(tx);
-  tf.translation().y(-ty);
+  tf.translation().y(ty);
   tf.translation().z(tz);
 
   tf.rotation().w(cr * cp * cy + sr * sp * sy);