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Add camera visualisation markers node for aligning frame with rviz

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This commit is contained in:
Oleg Kalachev
2018-09-07 22:21:26 +03:00
parent 6fb4d43500
commit 4a25fed9d5
4 changed files with 109 additions and 1 deletions
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9
clever/launch/main_camera.launch
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@@ -1,4 +1,7 @@
<launch>
<!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
<!-- clever 2 -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
@@ -20,4 +23,10 @@
<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="frame_id" value="main_camera_optical"/>
<param name="scale" value="3.0"/>
</node>
</launch>