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Rename frames: local_origin -> map, fcu -> base_link, fcu_horiz -> body

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To make it more compliant with REP-105
This commit is contained in:
Oleg Kalachev
2019-01-16 22:42:26 +03:00
parent d4d91d37ee
commit 2632522c13
8 changed files with 25 additions and 25 deletions
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4
clever/launch/aruco.launch
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@@ -16,8 +16,8 @@
</node>
<node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
<param name="aruco_orientation" value="local_origin"/>
<!--<param name="aruco_orientation" value="local_origin_upside_down"/>-->
<param name="aruco_orientation" value="map"/>
<!--<param name="aruco_orientation" value="map_upside_down"/>-->
<param name="use_mocap" value="true"/>
</node>

8
clever/launch/clever.launch
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@@ -36,19 +36,19 @@
<param name="num_worker_threads" value="2"/>
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 map map_upside_down"/>
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
<rosparam param="reference_frames">
fcu_horiz: local_origin
fcu: local_origin
body: map
base_link: map
</rosparam>
</node>
<!-- Auxiliary frames -->
<node name="frames" pkg="clever" type="frames" output="screen">
<param name="body/frame_id" value="fcu_horiz"/>
<param name="body/frame_id" value="body"/>
</node>
<!-- main camera -->

10
clever/launch/main_camera.launch
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@@ -1,20 +1,20 @@
<launch>
<!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
<!-- 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 fcu main_camera_optical"/>
<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 fcu main_camera_optical"/>-->
<!--<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 fcu main_camera_optical"/>-->
<!--<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 fcu main_camera_optical"/>-->
<!--<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">

14
clever/launch/mavros.launch
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@@ -54,12 +54,12 @@
</rosparam>
<!-- additional params -->
<param name="local_position/frame_id" value="local_origin"/>
<param name="local_position/frame_id" value="map"/>
<param name="local_position/tf/send" value="true"/>
<param name="local_position/tf/frame_id" value="local_origin"/>
<param name="local_position/tf/child_frame_id" value="fcu"/>
<param name="local_position/tf/frame_id" value="map"/>
<param name="local_position/tf/child_frame_id" value="base_link"/>
<param name="global_position/tf/send" value="false"/>
<param name="imu/frame_id" value="fcu"/>
<param name="imu/frame_id" value="base_link"/>
<rosparam param="plugin_blacklist">
- safety_area
- image_pub
@@ -84,14 +84,14 @@
</node>
<!-- Rangefinders frame -->
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
<!-- Copter visualization -->
<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
<remap to="mavros/local_position/pose" from="local_position"/>
<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
<param name="fixed_frame_id" value="local_origin"/>
<param name="child_frame_id" value="fcu"/>
<param name="fixed_frame_id" value="map"/>
<param name="child_frame_id" value="base_link"/>
<param name="marker_scale" value="1"/>
<param name="max_track_size" value="20"/>
<param name="num_rotors" value="4"/>

8
clever/src/aruco_vpe.cpp
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@@ -39,7 +39,7 @@ private:
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& nh_priv = getPrivateNodeHandle();
nh_priv.param<string>("aruco_orientation", aruco_orientation_, "local_origin");
nh_priv.param<string>("aruco_orientation", aruco_orientation_, "map");
bool use_mocap;
nh_priv.param<bool>("use_mocap", use_mocap, false);
nh_priv.param<bool>("reset_vpe", reset_vpe_, !use_mocap);
@@ -107,20 +107,20 @@ private:
(reset_vpe_ && (ros::Time::now() - last_published_ > reset_timeout_))) // vpe origin outdated
{
ROS_INFO("Reset VPE");
t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_);
t = tf_buffer.lookupTransform("map", "aruco_map_vision", stamp, lookup_timeout_);
t.child_frame_id = "aruco_map";
static_br.sendTransform(t);
}
// Calculate VPE
ps.header.frame_id = "fcu_horiz";
ps.header.frame_id = "body";
ps.header.stamp = stamp;
ps.pose.orientation.w = 1;
tf_buffer.transform(ps, vpe_raw, "aruco_map_vision", lookup_timeout_);
vpe_raw.header.frame_id = "aruco_map";
tf_buffer.transform(vpe_raw, vpe, "local_origin", lookup_timeout_);
tf_buffer.transform(vpe_raw, vpe, "map", lookup_timeout_);
vision_position_pub_.publish(vpe);

2
clever/src/interactive.py
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@@ -35,7 +35,7 @@ def make_box_control(msg):
def make_quadcopter_marker():
marker = InteractiveMarker()
marker.header.frame_id = 'fcu'
marker.header.frame_id = 'base_link'
marker.header.stamp = rospy.get_rostime()
marker.scale = 1
marker.pose.orientation.w = 1

2
clever/src/optical_flow.cpp
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@@ -59,7 +59,7 @@ private:
image_transport::ImageTransport it(nh);
image_transport::ImageTransport it_priv(nh_priv);
nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "fcu");
nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
nh_priv.param("roi", roi_, 128);
roi_2_ = roi_ / 2;

2
clever/src/selfcheck.py
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@@ -16,7 +16,7 @@ import tf.transformations as t
# TODO: clever.service is running
# TODO: check attitude is present
# TODO: disk free space
# TODO: local_origin, fcu, fcu_horiz
# TODO: map, base_link, body
# TODO: rc service
# TODO: perform commander check, ekf2 status on PX4
# TODO: check if FCU params setter succeed