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Sane settings for rangefinders

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This commit is contained in:
Oleg Kalachev
2018-09-12 03:39:49 +03:00
parent 3bd4a6673f
commit 276922104c
1 changed files with 26 additions and 0 deletions
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26
clever/launch/mavros.launch
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@@ -27,6 +27,29 @@
<!-- default px4 params -->
<rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
<!-- rangefinders -->
<rosparam>
distance_sensor:
rangefinder_0:
id: 0
frame_id: "rangefinder"
orientation: PITCH_270
field_of_view: 0.5
rangefinder_1:
id: 1
frame_id: "rangefinder"
orientation: PITCH_270
field_of_view: 0.5
rangefinder_0_sub:
subscriber: true
id: 2
orientation: PITCH_270
rangefinder_0_sub:
subscriber: true
id: 3
orientation: PITCH_270
</rosparam>
<!-- additional params -->
<param name="local_position/frame_id" value="local_origin"/>
<param name="local_position/tf/send" value="true"/>
@@ -54,6 +77,9 @@
</rosparam>
</node>
<!-- Rangefinders frame -->
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
<!-- Copter visualization -->
<include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
</launch>