mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-06-04 19:19:33 +00:00
builder: Remove files from custom clever-config dir
This commit is contained in:
Arthur Golubtsov
@@ -1,37 +0,0 @@
|
||||
<launch>
|
||||
<arg name="aruco_detect" default="true"/>
|
||||
<arg name="aruco_map" default="true"/>
|
||||
<arg name="aruco_vpe" default="true"/>
|
||||
|
||||
<!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
|
||||
|
||||
<!-- aruco_detect: detect aruco markers, estimate poses -->
|
||||
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="estimate_poses" value="true"/>
|
||||
<param name="send_tf" value="true"/>
|
||||
<param name="known_tilt" value="map"/>
|
||||
<param name="length" value="0.33"/>
|
||||
</node>
|
||||
|
||||
<!-- aruco_map: estimate aruco map pose -->
|
||||
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<remap from="markers" to="aruco_detect/markers"/>
|
||||
<param name="map" value="$(find aruco_pose)/map/animation_map.txt"/>
|
||||
<param name="known_tilt" value="map"/>
|
||||
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
|
||||
<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
|
||||
</node>
|
||||
|
||||
<!-- vpe publisher from aruco markers -->
|
||||
<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
|
||||
<remap from="~pose_cov" to="aruco_map/pose"/>
|
||||
<remap from="~vpe" to="mavros/vision_pose/pose"/>
|
||||
<param name="frame_id" value="aruco_map_detected"/>
|
||||
<param name="publish_zero" value="true"/>
|
||||
<param name="offset_frame_id" value="aruco_map"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -1,71 +0,0 @@
|
||||
<launch>
|
||||
<arg name="fcu_conn" default="usb"/>
|
||||
<arg name="fcu_ip" default="127.0.0.1"/>
|
||||
<arg name="gcs_bridge" default="tcp"/>
|
||||
<arg name="web_video_server" default="true"/>
|
||||
<arg name="rosbridge" default="true"/>
|
||||
<arg name="main_camera" default="true"/>
|
||||
<arg name="optical_flow" default="true"/>
|
||||
<arg name="aruco" default="true"/>
|
||||
<arg name="rc" default="true"/>
|
||||
<arg name="rangefinder_vl53l1x" default="true"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(find clever)/launch/mavros.launch">
|
||||
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
|
||||
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
|
||||
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
|
||||
</include>
|
||||
|
||||
<!-- web video server -->
|
||||
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
|
||||
<param name="default_stream_type" value="ros_compressed"/>
|
||||
<param name="publish_rate" value="1.0"/>
|
||||
</node>
|
||||
|
||||
<!-- aruco markers -->
|
||||
<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
|
||||
|
||||
<!-- optical flow -->
|
||||
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="calc_flow_gyro" value="true"/>
|
||||
</node>
|
||||
|
||||
<!-- main nodelet manager -->
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
|
||||
<param name="num_worker_threads" value="2"/>
|
||||
</node>
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
|
||||
|
||||
<!-- simplified offboard control -->
|
||||
<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
</node>
|
||||
|
||||
<!-- Auxiliary frames -->
|
||||
<node name="frames" pkg="clever" type="frames" output="screen">
|
||||
<param name="body/frame_id" value="body"/>
|
||||
</node>
|
||||
|
||||
<!-- main camera -->
|
||||
<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
|
||||
|
||||
<!-- rosbridge -->
|
||||
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
|
||||
|
||||
<!-- tf2 republisher for web visualization -->
|
||||
<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
|
||||
|
||||
<!-- vl53l1x ToF rangefinder -->
|
||||
<node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
<remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
|
||||
</node>
|
||||
|
||||
<!-- rc backend -->
|
||||
<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
|
||||
</launch>
|
||||
@@ -1,37 +0,0 @@
|
||||
<launch>
|
||||
<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
|
||||
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
|
||||
|
||||
<!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
|
||||
|
||||
<!-- camera is oriented downward, camera cable goes backward [option 1] -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
|
||||
|
||||
<!-- camera is oriented downward, camera cable goes forward [option 2] -->
|
||||
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
|
||||
|
||||
<!-- camera is oriented upward, camera cable goes backward [option 3] -->
|
||||
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
|
||||
|
||||
<!-- camera is oriented upward, camera cable goes forward [option 4] -->
|
||||
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
|
||||
|
||||
<!-- camera node -->
|
||||
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
|
||||
<param name="frame_id" value="main_camera_optical"/>
|
||||
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
|
||||
|
||||
<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 -->
|
||||
|
||||
<!-- camera resolution, NOTE: camera_info file should match it -->
|
||||
<param name="image_width" value="320"/>
|
||||
<param name="image_height" value="240"/>
|
||||
</node>
|
||||
|
||||
<!-- camera visualization markers -->
|
||||
<node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
|
||||
<param name="scale" value="3.0"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -1,8 +0,0 @@
|
||||
107 0.33 0 0 0 0 0 0
|
||||
106 0.33 0.77 0 0 0 0 0
|
||||
105 0.33 0 0.77 0 0 0 0
|
||||
104 0.33 0.77 0.77 0 0 0 0
|
||||
103 0.33 0 1.54 0 0 0 0
|
||||
102 0.33 0.77 1.54 0 0 0 0
|
||||
101 0.33 0 2.31 0 0 0 0
|
||||
100 0.33 0.77 2.31 0 0 0 0
|
||||
Reference in New Issue
Block a user