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clover.launch: add force_init argument

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PX4 1.12.3 doesn’t init by flow without mag
force_init runs vpe_publisher to force init using vpe
This commit is contained in:
Oleg Kalachev
2022-02-01 14:08:33 +03:00
parent d31bd75d7d
commit 265898912f
2 changed files with 14 additions and 7 deletions
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15
clover/launch/aruco.launch
View File

@@ -8,8 +8,11 @@
<!-- For additional help go to https://clover.coex.tech/aruco -->
<arg name="force_init" default="false"/>
<arg name="disable" default="false"/> <!-- only force init -->
<!-- aruco_detect: detect aruco markers, estimate poses -->
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
<node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="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"/>
@@ -26,7 +29,7 @@
</node>
<!-- aruco_map: estimate aruco map pose -->
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="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"/>
@@ -41,11 +44,11 @@
</node>
<!-- vpe publisher from aruco markers -->
<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
<remap from="~pose_cov" to="aruco_map/pose"/>
<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
<remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
<remap from="~vpe" to="mavros/vision_pose/pose"/>
<param name="frame_id" value="aruco_map_detected"/>
<param name="force_init" value="true"/>
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
<param name="force_init" value="$(arg force_init)"/>
<param name="offset_frame_id" value="aruco_map"/>
</node>
</launch>

6
clover/launch/clover.launch
View File

@@ -12,6 +12,7 @@
<arg name="led" default="true"/>
<arg name="blocks" default="false"/>
<arg name="rc" default="false"/>
<arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->
<arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
@@ -33,7 +34,10 @@
</node>
<!-- aruco markers -->
<include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
<include file="$(find clover)/launch/aruco.launch" if="$(eval aruco or force_init)">
<arg name="force_init" value="$(arg force_init)"/>
<arg name="disable" value="$(eval not aruco)"/>
</include>
<!-- optical flow -->
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">