CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-06-04 08:49:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: add command for updating markers map in the sim (#456)

Browse Source 
Co-authored-by: Oleg Kalachev <okalachev@gmail.com>
This commit is contained in:
Sergey Stetsky
2022-09-23 20:15:57 +03:00
committed by GitHub
parent 1e12498cb2
commit 7b431fa021
2 changed files with 20 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
docs/en/simulation_usage.md
View File

@@ -97,3 +97,13 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
The virtual machine may benefit from several CPU cores, especially if the cores are not very performant. In our tests, a four-core machine with only a single core allocated to the VM was unable to run the simulation, with constant interface freezes and dropped ROS messages. The same machine with all four cores available to the VM was able to run the simulation at 0.25 real-time speed.
Do note that you should not allocate more resources than you have on your host hardware.
### Changing the map of ArUco-markers in the simulator
In order to change the map of ArUco-markers in the simulator, you can use the following command:
```bash
rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
```
In this example, `map.txt` is the name of markers name.