mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-06-03 10:39:33 +00:00
docs: Add article about positioning setup
This commit is contained in:
Arthur Golubtsov
4
examples/positioning/aruco floor/aruco.params
Normal file
4
examples/positioning/aruco floor/aruco.params
Normal file
@@ -0,0 +1,4 @@
|
||||
1 1 ATT_EXT_HDG_M 1 6
|
||||
1 1 ATT_W_EXT_HDG 0.500000000000000000 9
|
||||
1 1 ATT_W_MAG 0.000000000000000000 9
|
||||
1 1 LPE_FUSION 20 6
|
||||
6
examples/positioning/aruco floor/client.ini
Normal file
6
examples/positioning/aruco floor/client.ini
Normal file
@@ -0,0 +1,6 @@
|
||||
[FLIGHT]
|
||||
frame_id = aruco_map
|
||||
|
||||
[ANIMATION]
|
||||
start_action = takeoff
|
||||
check_ground = False
|
||||
44
examples/positioning/aruco floor/launch/aruco.launch
Normal file
44
examples/positioning/aruco floor/launch/aruco.launch
Normal file
@@ -0,0 +1,44 @@
|
||||
<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://clover.coex.tech/aruco -->
|
||||
|
||||
<!-- aruco_detect: detect aruco markers, estimate poses -->
|
||||
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
|
||||
<param name="estimate_poses" value="true"/>
|
||||
<param name="send_tf" value="true"/>
|
||||
<param name="known_tilt" value="map"/>
|
||||
<param name="length" value="0.33"/>
|
||||
<!-- aruco detector parameters -->
|
||||
<param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
|
||||
<param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
|
||||
</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="image_axis" value="true"/>
|
||||
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
|
||||
<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
|
||||
<param name="markers/frame_id" value="aruco_map"/>
|
||||
<param name="markers/child_frame_id_prefix" value="aruco_"/>
|
||||
</node>
|
||||
|
||||
<!-- vpe publisher from aruco markers -->
|
||||
<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
|
||||
<remap from="~pose_cov" to="aruco_map/pose"/>
|
||||
<remap from="~vpe" to="mavros/vision_pose/pose"/>
|
||||
<param name="frame_id" value="aruco_map_detected"/>
|
||||
<param name="publish_zero" value="true"/>
|
||||
<param name="offset_frame_id" value="aruco_map"/>
|
||||
</node>
|
||||
</launch>
|
||||
85
examples/positioning/aruco floor/launch/clover.launch
Normal file
85
examples/positioning/aruco floor/launch/clover.launch
Normal file
@@ -0,0 +1,85 @@
|
||||
<launch>
|
||||
<arg name="fcu_conn" default="usb"/>
|
||||
<arg name="fcu_ip" default="127.0.0.1"/>
|
||||
<arg name="fcu_sys_id" default="1"/>
|
||||
<arg name="gcs_bridge" default="tcp"/>
|
||||
<arg name="web_video_server" default="true"/>
|
||||
<arg name="rosbridge" default="true"/>
|
||||
<arg name="main_camera" default="true"/>
|
||||
<arg name="optical_flow" default="false"/>
|
||||
<arg name="aruco" default="true"/>
|
||||
<arg name="rangefinder_vl53l1x" default="true"/>
|
||||
<arg name="led" default="true"/>
|
||||
<arg name="rc" default="true"/>
|
||||
<arg name="shell" default="true"/>
|
||||
|
||||
<!-- log formatting -->
|
||||
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(find clover)/launch/mavros.launch">
|
||||
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
|
||||
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
|
||||
<arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
|
||||
<arg name="gcs_bridge" value="$(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 clover)/launch/aruco.launch" if="$(arg aruco)"/>
|
||||
|
||||
<!-- optical flow -->
|
||||
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(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"/>
|
||||
<param name="roi_rad" value="0.8"/>
|
||||
</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="clover" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
<param name="reference_frames/navigate_target" value="map"/>
|
||||
</node>
|
||||
|
||||
<!-- main camera -->
|
||||
<include file="$(find clover)/launch/main_camera.launch" if="$(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="$(arg rosbridge)"/>
|
||||
|
||||
<!-- vl53l1x ToF rangefinder -->
|
||||
<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
<param name="min_signal" value="0.4"/>
|
||||
<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
|
||||
</node>
|
||||
|
||||
<!-- led strip -->
|
||||
<include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
|
||||
|
||||
<!-- rc backend -->
|
||||
<node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
|
||||
<!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
|
||||
<param name="use_fake_gcs" value="false"/>
|
||||
</node>
|
||||
|
||||
<!-- Shell access through ROS service -->
|
||||
<node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
|
||||
</launch>
|
||||
4
examples/positioning/aruco floor/server.ini
Normal file
4
examples/positioning/aruco floor/server.ini
Normal file
@@ -0,0 +1,4 @@
|
||||
[CHECKS]
|
||||
check_current_position = False
|
||||
# in meters; set 0 to disable this check
|
||||
start_pos_delta_max = 0.0
|
||||
11
examples/positioning/gps/client.ini
Normal file
11
examples/positioning/gps/client.ini
Normal file
@@ -0,0 +1,11 @@
|
||||
[FLIGHT]
|
||||
frame_id = gps
|
||||
|
||||
[GPS FRAME]
|
||||
lat = 55.7032026
|
||||
lon = 37.7248114
|
||||
yaw = 0.0
|
||||
|
||||
[ANIMATION]
|
||||
start_action = auto
|
||||
check_ground = True
|
||||
5
examples/positioning/gps/gps.params
Normal file
5
examples/positioning/gps/gps.params
Normal file
@@ -0,0 +1,5 @@
|
||||
1 1 ATT_EXT_HDG_M 0 6
|
||||
1 1 ATT_W_ACC 0.200000002980232239 9
|
||||
1 1 ATT_W_EXT_HDG 0.100000001490116119 9
|
||||
1 1 ATT_W_MAG 0.100000001490116119 9
|
||||
1 1 LPE_FUSION 145 6
|
||||
43
examples/positioning/gps/launch/clover.launch
Normal file
43
examples/positioning/gps/launch/clover.launch
Normal file
@@ -0,0 +1,43 @@
|
||||
<launch>
|
||||
<arg name="fcu_conn" default="usb"/>
|
||||
<arg name="fcu_ip" default="127.0.0.1"/>
|
||||
<arg name="fcu_sys_id" default="1"/>
|
||||
<arg name="gcs_bridge" default="tcp"/>
|
||||
<arg name="rangefinder_vl53l1x" default="true"/>
|
||||
<arg name="led" default="true"/>
|
||||
|
||||
<!-- log formatting -->
|
||||
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(find clover)/launch/mavros.launch">
|
||||
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
|
||||
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
|
||||
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
|
||||
</include>
|
||||
|
||||
<!-- main nodelet manager -->
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
|
||||
<param name="num_worker_threads" value="2"/>
|
||||
</node>
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
|
||||
|
||||
<!-- simplified offboard control -->
|
||||
<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
<param name="reference_frames/navigate_target" value="map"/>
|
||||
</node>
|
||||
|
||||
<!-- vl53l1x ToF rangefinder -->
|
||||
<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
<param name="min_signal" value="0.4"/>
|
||||
<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
|
||||
</node>
|
||||
|
||||
<!-- led strip -->
|
||||
<include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
|
||||
|
||||
</launch>
|
||||
4
examples/positioning/gps/server.ini
Normal file
4
examples/positioning/gps/server.ini
Normal file
@@ -0,0 +1,4 @@
|
||||
[CHECKS]
|
||||
check_current_position = True
|
||||
# in meters; set 0 to disable this check
|
||||
start_pos_delta_max = 1.0
|
||||
6
examples/positioning/optical flow/client.ini
Normal file
6
examples/positioning/optical flow/client.ini
Normal file
@@ -0,0 +1,6 @@
|
||||
[FLIGHT]
|
||||
frame_id = map
|
||||
|
||||
[ANIMATION]
|
||||
start_action = auto
|
||||
check_ground = True
|
||||
90
examples/positioning/optical flow/launch/clover.launch
Normal file
90
examples/positioning/optical flow/launch/clover.launch
Normal file
@@ -0,0 +1,90 @@
|
||||
<launch>
|
||||
<arg name="fcu_conn" default="usb"/>
|
||||
<arg name="fcu_ip" default="127.0.0.1"/>
|
||||
<arg name="fcu_sys_id" default="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="false"/>
|
||||
<arg name="rangefinder_vl53l1x" default="true"/>
|
||||
<arg name="led" default="true"/>
|
||||
<arg name="rc" default="true"/>
|
||||
<arg name="shell" default="true"/>
|
||||
|
||||
<!-- log formatting -->
|
||||
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(find clover)/launch/mavros.launch">
|
||||
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
|
||||
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
|
||||
<arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
|
||||
<arg name="gcs_bridge" value="$(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 clover)/launch/aruco.launch" if="$(arg aruco)"/>
|
||||
|
||||
<!-- optical flow -->
|
||||
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(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"/>
|
||||
<param name="roi_rad" value="0.8"/>
|
||||
</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="clover" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
<param name="reference_frames/navigate_target" value="map"/>
|
||||
</node>
|
||||
|
||||
<!-- main camera -->
|
||||
<include file="$(find clover)/launch/main_camera.launch" if="$(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="$(arg rosbridge)"/>
|
||||
|
||||
<!-- vl53l1x ToF rangefinder -->
|
||||
<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
<param name="min_signal" value="0.4"/>
|
||||
<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
|
||||
</node>
|
||||
|
||||
<!-- led strip -->
|
||||
<include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
|
||||
|
||||
<!-- rc backend -->
|
||||
<node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
|
||||
<!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
|
||||
<param name="use_fake_gcs" value="false"/>
|
||||
</node>
|
||||
|
||||
<!-- Shell access through ROS service -->
|
||||
<node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
|
||||
|
||||
<!-- Update static directory -->
|
||||
<node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
|
||||
<param name="default_package" value="clover"/>
|
||||
</node>
|
||||
</launch>
|
||||
9
examples/positioning/optical flow/optical_flow.params
Normal file
9
examples/positioning/optical flow/optical_flow.params
Normal file
@@ -0,0 +1,9 @@
|
||||
1 1 ATT_EXT_HDG_M 1 6
|
||||
1 1 ATT_W_EXT_HDG 0.500000000000000000 9
|
||||
1 1 ATT_W_MAG 0.000000000000000000 9
|
||||
1 1 LPE_FLW_OFF_Z 0.000000000000000000 9
|
||||
1 1 LPE_FLW_QMIN 60 6
|
||||
1 1 LPE_FLW_R 0.200000002980232239 9
|
||||
1 1 LPE_FLW_RR 0.000000000000000000 9
|
||||
1 1 LPE_FLW_SCALE 1.000000000000000000 9
|
||||
1 1 LPE_FUSION 118 6
|
||||
4
examples/positioning/optical flow/server.ini
Normal file
4
examples/positioning/optical flow/server.ini
Normal file
@@ -0,0 +1,4 @@
|
||||
[CHECKS]
|
||||
check_current_position = True
|
||||
# in meters; set 0 to disable this check
|
||||
start_pos_delta_max = 1.0
|
||||
Reference in New Issue
Block a user