mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-26 15:13:26 +00:00
builder: Update clover configuration
This commit is contained in:
Arthur Golubtsov
@@ -1,73 +0,0 @@
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<launch>
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<arg name="fcu_conn" default="usb"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="web_video_server" default="true"/>
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<arg name="rosbridge" default="true"/>
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<arg name="main_camera" default="true"/>
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<arg name="optical_flow" default="true"/>
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<arg name="aruco" default="false"/>
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<arg name="rangefinder_vl53l1x" default="true"/>
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<arg name="led" default="false"/>
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<arg name="rc" default="true"/>
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<!-- log formatting -->
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<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
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<!-- mavros -->
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<include file="$(find clever)/launch/mavros.launch">
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<arg name="fcu_conn" value="$(arg fcu_conn)"/>
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<arg name="fcu_ip" value="$(arg fcu_ip)"/>
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<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
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</include>
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<!-- web video server -->
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<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
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<param name="default_stream_type" value="ros_compressed"/>
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<param name="publish_rate" value="1.0"/>
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</node>
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<!-- aruco markers -->
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<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
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<!-- optical flow -->
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<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="calc_flow_gyro" value="true"/>
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</node>
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<!-- main nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
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<param name="reference_frames/body" value="map"/>
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<param name="reference_frames/base_link" value="map"/>
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<param name="reference_frames/navigate_target" value="map"/>
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</node>
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<!-- main camera -->
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<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
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<!-- rosbridge -->
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
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<!-- tf2 republisher for web visualization -->
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<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
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<!-- vl53l1x ToF rangefinder -->
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<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
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<param name="frame_id" value="rangefinder"/>
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</node>
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<!-- led strip -->
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<include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
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<!-- rc backend -->
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<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
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</launch>
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@@ -1,38 +0,0 @@
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<launch>
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<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
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<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
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<!-- article about camera setup: https://clever.coex.tech/camera_frame -->
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<!-- camera is oriented downward, camera cable goes backward [option 1] -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<!-- camera is oriented downward, camera cable goes forward [option 2] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes backward [option 3] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes forward [option 4] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
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<!-- camera node -->
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<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="camera_info_url" value="file://$(find clever)/camera_info/calibration.yaml"/>
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<param name="rate" value="100"/> <!-- poll rate -->
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<param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
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<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
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<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
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<!-- camera resolution, NOTE: camera_info file should match it -->
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<param name="image_width" value="320"/>
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<param name="image_height" value="240"/>
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</node>
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<!-- camera visualization markers -->
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<node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
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<param name="scale" value="3.0"/>
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</node>
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</launch>
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@@ -1,100 +0,0 @@
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79 0.33 9.0 2.0 0 0 0 0
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80 0.33 0.0 1.0 0 0 0 0
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81 0.33 1.0 1.0 0 0 0 0
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82 0.33 2.0 1.0 0 0 0 0
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91 0.33 1.0 0.0 0 0 0 0
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@@ -1,17 +1,17 @@
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image_width: 320
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image_height: 240
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image_width: 640
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image_height: 480
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distortion_model: plumb_bob
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camera_name: raspicam
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camera_name: main_camera_optical
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camera_matrix:
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rows: 3
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cols: 3
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data:
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- 166.23942373073172
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- 332.47884746146343
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- 0.
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- 162.19011246829268
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- 320.0
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- 0.
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- 166.5880923974026
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- 109.82227735714285
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- 333.1761847948052
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- 240.0
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- 0.
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- 0.
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- 1.
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@@ -31,13 +31,13 @@ projection_matrix:
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rows: 3
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cols: 4
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data:
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- 166.23942373073172
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- 332.47884746146343
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- 0.
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- 162.19011246829268
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- 324.38022493658536
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- 0.
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- 0.
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- 166.5880923974026
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- 109.82227735714285
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- 333.1761847948052
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- 219.6445547142857
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- 0.
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- 0.
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- 0.
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@@ -1,9 +1,9 @@
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<launch>
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<arg name="aruco_detect" default="true"/>
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<arg name="aruco_map" default="true"/>
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<arg name="aruco_vpe" default="true"/>
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<arg name="aruco_map" default="false"/>
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<arg name="aruco_vpe" default="false"/>
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<!-- For additional help go to https://clever.coex.tech/aruco -->
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<!-- For additional help go to https://clover.coex.tech/aruco -->
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<!-- aruco_detect: detect aruco markers, estimate poses -->
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<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
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@@ -14,6 +14,9 @@
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<param name="send_tf" value="true"/>
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<param name="known_tilt" value="map"/>
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<param name="length" value="0.33"/>
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<!-- aruco detector parameters -->
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<param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
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<param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
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</node>
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<!-- aruco_map: estimate aruco map pose -->
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@@ -31,7 +34,7 @@
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</node>
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<!-- vpe publisher from aruco markers -->
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<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
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<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
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<remap from="~pose_cov" to="aruco_map/pose"/>
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<remap from="~vpe" to="mavros/vision_pose/pose"/>
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<param name="frame_id" value="aruco_map_detected"/>
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38
builder/clover-config/launch/led.launch
Normal file
38
builder/clover-config/launch/led.launch
Normal file
@@ -0,0 +1,38 @@
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<launch>
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<arg name="ws281x" default="true"/>
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<arg name="led_effect" default="true"/>
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<arg name="led_notify" default="false"/>
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<!-- For additional help go to https://clover.coex.tech/led -->
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<!-- ws281x led strip driver -->
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<node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
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<param name="led_count" value="58"/>
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<param name="gpio_pin" value="21"/>
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<param name="brightness" value="64"/>
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<param name="strip_type" value="WS2811_STRIP_GRB"/>
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<param name="target_frequency" value="800000"/>
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<param name="dma" value="10"/>
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<param name="invert" value="false"/>
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</node>
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<!-- high level led effects control, events notification with leds -->
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<node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
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<param name="blink_rate" value="2"/>
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<param name="fade_period" value="0.5"/>
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<param name="rainbow_period" value="5"/>
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<!-- events effects table -->
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<rosparam param="notify" if="$(arg led_notify)">
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startup: { r: 255, g: 255, b: 255 }
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connected: { effect: rainbow }
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disconnected: { effect: blink, r: 255, g: 50, b: 50 }
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acro: { r: 245, g: 155, b: 0 }
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stabilized: { r: 30, g: 180, b: 50 }
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altctl: { r: 255, g: 255, b: 40 }
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posctl: { r: 50, g: 100, b: 220 }
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offboard: { r: 220, g: 20, b: 250 }
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low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
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error: { effect: flash, r: 255, g: 0, b: 0 }
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</rosparam>
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</node>
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</launch>
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37
builder/clover-config/launch/main_camera.launch
Normal file
37
builder/clover-config/launch/main_camera.launch
Normal file
@@ -0,0 +1,37 @@
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<launch>
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<!-- article about camera setup: https://clover.coex.tech/camera_setup -->
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<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
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<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
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<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
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||||
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||||
<!-- Template for custom camera orientation -->
|
||||
<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
|
||||
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
|
||||
<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
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||||
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||||
<!-- camera node -->
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||||
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
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||||
<param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
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||||
<param name="frame_id" value="main_camera_optical"/>
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||||
<param name="camera_info_url" value="file://$(find clover)/camera_info/calibration.yaml"/>
|
||||
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||||
<param name="rate" value="100"/> <!-- poll rate -->
|
||||
<param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
|
||||
<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
|
||||
<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
|
||||
|
||||
<!-- camera resolution -->
|
||||
<param name="image_width" value="320"/>
|
||||
<param name="image_height" value="240"/>
|
||||
</node>
|
||||
|
||||
<!-- camera visualization markers -->
|
||||
<node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
|
||||
<param name="scale" value="3.0"/>
|
||||
</node>
|
||||
</launch>
|
||||
5
builder/clover-config/map/animation_map.txt
Normal file
5
builder/clover-config/map/animation_map.txt
Normal file
@@ -0,0 +1,5 @@
|
||||
# id length x y z rot_z rot_y rot_x
|
||||
1 0.33 0 0 0 0 0 0
|
||||
2 0.33 1 0 0 0 0 0
|
||||
3 0.33 0 1 0 0 0 0
|
||||
4 0.33 1 1 0 0 0 0
|
||||
Reference in New Issue
Block a user