mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-26 15:13:26 +00:00
builder: Add default clever-config folder
This commit is contained in:
Arthur Golubtsov
45
builder/clever-config/camera_info/calibration.yaml
Normal file
45
builder/clever-config/camera_info/calibration.yaml
Normal file
@@ -0,0 +1,45 @@
|
||||
image_width: 320
|
||||
image_height: 240
|
||||
distortion_model: plumb_bob
|
||||
camera_name: raspicam
|
||||
camera_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data:
|
||||
- 166.23942373073172
|
||||
- 0.
|
||||
- 162.19011246829268
|
||||
- 0.
|
||||
- 166.5880923974026
|
||||
- 109.82227735714285
|
||||
- 0.
|
||||
- 0.
|
||||
- 1.
|
||||
distortion_coefficients:
|
||||
rows: 1
|
||||
cols: 8
|
||||
data: [ 2.15356885e-01, -1.17472846e-01, -3.06197672e-04,
|
||||
-1.09444025e-04, -4.53657258e-03, 5.73090623e-01,
|
||||
-1.27574577e-01, -2.86125589e-02, 0.00000000e+00,
|
||||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
|
||||
0.00000000e+00, 0.00000000e+00]
|
||||
rectification_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
|
||||
projection_matrix:
|
||||
rows: 3
|
||||
cols: 4
|
||||
data:
|
||||
- 166.23942373073172
|
||||
- 0.
|
||||
- 162.19011246829268
|
||||
- 0.
|
||||
- 0.
|
||||
- 166.5880923974026
|
||||
- 109.82227735714285
|
||||
- 0.
|
||||
- 0.
|
||||
- 0.
|
||||
- 1.
|
||||
- 0.
|
||||
41
builder/clever-config/launch/aruco.launch
Normal file
41
builder/clever-config/launch/aruco.launch
Normal file
@@ -0,0 +1,41 @@
|
||||
<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.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"/>
|
||||
</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="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
|
||||
<remap from="~pose_cov" to="aruco_map/pose"/>
|
||||
<remap from="~vpe" to="mavros/vision_pose/pose"/>
|
||||
<param name="frame_id" value="aruco_map_detected"/>
|
||||
<param name="publish_zero" value="true"/>
|
||||
<param name="offset_frame_id" value="aruco_map"/>
|
||||
</node>
|
||||
</launch>
|
||||
73
builder/clever-config/launch/clever.launch
Normal file
73
builder/clever-config/launch/clever.launch
Normal file
@@ -0,0 +1,73 @@
|
||||
<launch>
|
||||
<arg name="fcu_conn" default="usb"/>
|
||||
<arg name="fcu_ip" default="127.0.0.1"/>
|
||||
<arg name="gcs_bridge" default="tcp"/>
|
||||
<arg name="web_video_server" default="true"/>
|
||||
<arg name="rosbridge" default="true"/>
|
||||
<arg name="main_camera" default="true"/>
|
||||
<arg name="optical_flow" default="true"/>
|
||||
<arg name="aruco" default="false"/>
|
||||
<arg name="rangefinder_vl53l1x" default="true"/>
|
||||
<arg name="led" default="false"/>
|
||||
<arg name="rc" default="true"/>
|
||||
|
||||
<!-- log formatting -->
|
||||
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(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="$(arg optical_flow)" clear_params="true" output="screen">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="calc_flow_gyro" value="true"/>
|
||||
</node>
|
||||
|
||||
<!-- main nodelet manager -->
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
|
||||
<param name="num_worker_threads" value="2"/>
|
||||
</node>
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
|
||||
|
||||
<!-- simplified offboard control -->
|
||||
<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
<param name="reference_frames/navigate_target" value="map"/>
|
||||
</node>
|
||||
|
||||
<!-- main camera -->
|
||||
<include file="$(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="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
</node>
|
||||
|
||||
<!-- led strip -->
|
||||
<include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
|
||||
|
||||
<!-- rc backend -->
|
||||
<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
|
||||
</launch>
|
||||
38
builder/clever-config/launch/main_camera.launch
Normal file
38
builder/clever-config/launch/main_camera.launch
Normal file
@@ -0,0 +1,38 @@
|
||||
<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.coex.tech/camera_frame -->
|
||||
|
||||
<!-- 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/calibration.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 -->
|
||||
<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
|
||||
|
||||
<!-- 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>
|
||||
100
builder/clever-config/map/animation_map.txt
Normal file
100
builder/clever-config/map/animation_map.txt
Normal file
@@ -0,0 +1,100 @@
|
||||
0 0.33 0.0 9.0 0 0 0 0
|
||||
1 0.33 1.0 9.0 0 0 0 0
|
||||
2 0.33 2.0 9.0 0 0 0 0
|
||||
3 0.33 3.0 9.0 0 0 0 0
|
||||
4 0.33 4.0 9.0 0 0 0 0
|
||||
5 0.33 5.0 9.0 0 0 0 0
|
||||
6 0.33 6.0 9.0 0 0 0 0
|
||||
7 0.33 7.0 9.0 0 0 0 0
|
||||
8 0.33 8.0 9.0 0 0 0 0
|
||||
9 0.33 9.0 9.0 0 0 0 0
|
||||
10 0.33 0.0 8.0 0 0 0 0
|
||||
11 0.33 1.0 8.0 0 0 0 0
|
||||
12 0.33 2.0 8.0 0 0 0 0
|
||||
13 0.33 3.0 8.0 0 0 0 0
|
||||
14 0.33 4.0 8.0 0 0 0 0
|
||||
15 0.33 5.0 8.0 0 0 0 0
|
||||
16 0.33 6.0 8.0 0 0 0 0
|
||||
#17 0.33 7.0 8.0 0 0 0 0
|
||||
18 0.33 8.0 8.0 0 0 0 0
|
||||
19 0.33 9.0 8.0 0 0 0 0
|
||||
20 0.33 0.0 7.0 0 0 0 0
|
||||
21 0.33 1.0 7.0 0 0 0 0
|
||||
22 0.33 2.0 7.0 0 0 0 0
|
||||
23 0.33 3.0 7.0 0 0 0 0
|
||||
24 0.33 4.0 7.0 0 0 0 0
|
||||
25 0.33 5.0 7.0 0 0 0 0
|
||||
26 0.33 6.0 7.0 0 0 0 0
|
||||
27 0.33 7.0 7.0 0 0 0 0
|
||||
28 0.33 8.0 7.0 0 0 0 0
|
||||
29 0.33 9.0 7.0 0 0 0 0
|
||||
30 0.33 0.0 6.0 0 0 0 0
|
||||
31 0.33 1.0 6.0 0 0 0 0
|
||||
32 0.33 2.0 6.0 0 0 0 0
|
||||
33 0.33 3.0 6.0 0 0 0 0
|
||||
34 0.33 4.0 6.0 0 0 0 0
|
||||
35 0.33 5.0 6.0 0 0 0 0
|
||||
36 0.33 6.0 6.0 0 0 0 0
|
||||
37 0.33 7.0 6.0 0 0 0 0
|
||||
38 0.33 8.0 6.0 0 0 0 0
|
||||
39 0.33 9.0 6.0 0 0 0 0
|
||||
40 0.33 0.0 5.0 0 0 0 0
|
||||
41 0.33 1.0 5.0 0 0 0 0
|
||||
42 0.33 2.0 5.0 0 0 0 0
|
||||
43 0.33 3.0 5.0 0 0 0 0
|
||||
44 0.33 4.0 5.0 0 0 0 0
|
||||
45 0.33 5.0 5.0 0 0 0 0
|
||||
46 0.33 6.0 5.0 0 0 0 0
|
||||
47 0.33 7.0 5.0 0 0 0 0
|
||||
48 0.33 8.0 5.0 0 0 0 0
|
||||
49 0.33 9.0 5.0 0 0 0 0
|
||||
50 0.33 0.0 4.0 0 0 0 0
|
||||
51 0.33 1.0 4.0 0 0 0 0
|
||||
52 0.33 2.0 4.0 0 0 0 0
|
||||
53 0.33 3.0 4.0 0 0 0 0
|
||||
54 0.33 4.0 4.0 0 0 0 0
|
||||
55 0.33 5.0 4.0 0 0 0 0
|
||||
56 0.33 6.0 4.0 0 0 0 0
|
||||
57 0.33 7.0 4.0 0 0 0 0
|
||||
58 0.33 8.0 4.0 0 0 0 0
|
||||
59 0.33 9.0 4.0 0 0 0 0
|
||||
60 0.33 0.0 3.0 0 0 0 0
|
||||
61 0.33 1.0 3.0 0 0 0 0
|
||||
62 0.33 2.0 3.0 0 0 0 0
|
||||
63 0.33 3.0 3.0 0 0 0 0
|
||||
64 0.33 4.0 3.0 0 0 0 0
|
||||
65 0.33 5.0 3.0 0 0 0 0
|
||||
66 0.33 6.0 3.0 0 0 0 0
|
||||
67 0.33 7.0 3.0 0 0 0 0
|
||||
68 0.33 8.0 3.0 0 0 0 0
|
||||
69 0.33 9.0 3.0 0 0 0 0
|
||||
70 0.33 0.0 2.0 0 0 0 0
|
||||
71 0.33 1.0 2.0 0 0 0 0
|
||||
72 0.33 2.0 2.0 0 0 0 0
|
||||
73 0.33 3.0 2.0 0 0 0 0
|
||||
74 0.33 4.0 2.0 0 0 0 0
|
||||
75 0.33 5.0 2.0 0 0 0 0
|
||||
76 0.33 6.0 2.0 0 0 0 0
|
||||
77 0.33 7.0 2.0 0 0 0 0
|
||||
78 0.33 8.0 2.0 0 0 0 0
|
||||
79 0.33 9.0 2.0 0 0 0 0
|
||||
80 0.33 0.0 1.0 0 0 0 0
|
||||
81 0.33 1.0 1.0 0 0 0 0
|
||||
82 0.33 2.0 1.0 0 0 0 0
|
||||
83 0.33 3.0 1.0 0 0 0 0
|
||||
84 0.33 4.0 1.0 0 0 0 0
|
||||
85 0.33 5.0 1.0 0 0 0 0
|
||||
86 0.33 6.0 1.0 0 0 0 0
|
||||
87 0.33 7.0 1.0 0 0 0 0
|
||||
88 0.33 8.0 1.0 0 0 0 0
|
||||
89 0.33 9.0 1.0 0 0 0 0
|
||||
90 0.33 0.0 0.0 0 0 0 0
|
||||
91 0.33 1.0 0.0 0 0 0 0
|
||||
92 0.33 2.0 0.0 0 0 0 0
|
||||
93 0.33 3.0 0.0 0 0 0 0
|
||||
94 0.33 4.0 0.0 0 0 0 0
|
||||
95 0.33 5.0 0.0 0 0 0 0
|
||||
96 0.33 6.0 0.0 0 0 0 0
|
||||
97 0.33 7.0 0.0 0 0 0 0
|
||||
98 0.33 8.0 0.0 0 0 0 0
|
||||
99 0.33 9.0 0.0 0 0 0 0
|
||||
Reference in New Issue
Block a user