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docs: translation updates (#186)

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* docs: Update frames article (en)

* docs: Add navigate_target notes to simple_offboard (en)

* docs: Update note about single-marker navigation

* docs: Add note about auto parameters in PX4 (en)
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Alexey Rogachevskiy
2019-10-29 23:40:30 +03:00
committed by Oleg Kalachev
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Coordinate systems (frames)
===
> **Note** Documentation for the [image](image.md), versions, starting with **0.15**. For older versions refer to [documentation for version **0.14**](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/frames.md).
> **Note** The following applies to [image](image.md) version 0.15 and up. See [previous version of the article](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/frames.md) (Russian only) for older images.
![Clever coordinates systems (TF2)](../assets/frames.png)
![TF2 Clever frames](../assets/frames.png)
Main frames in package `clever`:
Main frames in the `clever` package:
* `map` coordinates relative to the point of flight controller initialization: the white grid in the illustration;
* `base_link` — coordinates relative to the quadcopter: schematic image of the quadcopter in the illustration;
* `body` — coordinates relative to the quadcopter regardless of pitch and roll: red, blue and green lines in the illustration.
* `map` has its origin at the flight controller initialization point and may be considered stationary. It is shown as a white grid on the image above;
* `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
* `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service).
> **Hint** In accordance with [the agreement](http://www.ros.org/reps/rep-0103.html), for frames associated with the copter, the X-axis directed forward, Y – to the left, and Z – up.
> **Hint** Frames that are bound to the drone are oriented according to [the ROS convention](http://www.ros.org/reps/rep-0103.html): the X axis points forward, Y to the left, and Z up.
More clearly, 3D visualization of the coordinate systems can be viewed using [rviz](rviz.md).
3D visualization of the coordinate systems can be viewed using [rviz](rviz.md).
tf2
--
Read more at http://wiki.ros.org/tf2
tf2 ROS package is used extensively in the Clever platform. tf2 is a set of libraries for C++, Python and other programming languages that are used to work with the frames. Internally, ROS nodes publish `TransformStamped` messages to `/tf` topic with transforms between frames at certain points in time.
The [`simple_offboard`](simple_offboard.md) node can be used to request the drone position in an arbitrary frame by setting the `frame_id` argument appropriately in a call to `get_telemetry` service.
tf2 can be used from Python to transform coordinates (for objects like PoseStamped and PointStamped) from one frame to another