CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 21:19:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: fix navigate examples in aruco maps navigating

Browse Source
This commit is contained in:
Oleg Kalachev
2019-10-21 23:44:08 +03:00
parent a9b3613726
commit 8b3a9dc07a
2 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
docs/en/aruco_map.md
View File

@@ -112,12 +112,12 @@ You will also be able to use `navigate`, `set_position` and `set_velocity` ROS s
```python
# Takeoff should be performed in the "body" frame; "aruco_map" frame will appear as soon as the drone detects the marker field
navigate(0, 0, 2, frame_id='body', speed=0.5, auto_arm=True) # Takeoff and hover 2 metres above the ground
navigate(x=0, y=0, z=2, frame_id='body', speed=0.5, auto_arm=True) # Takeoff and hover 2 metres above the ground
time.sleep(5)
# Fly to the (2, 2) point on the marker field while being 2 metres above it
navigate(2, 2, 2, speed=1, frame_id='aruco_map')
navigate(x=2, y=2, z=2, speed=1, frame_id='aruco_map')
```
Starting from the [image](image.md) version 0.18, the drone also can fly relative to a marker in the map, even if it doesn't see it:

4
docs/ru/aruco_map.md
View File

@@ -120,12 +120,12 @@ rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/m
```python
# Вначале необходимо взлететь, чтобы коптер увидел карту меток и появился фрейм aruco_map:
navigate(0, 0, 2, frame_id='body', speed=0.5, auto_arm=True) # взлет на 2 метра
navigate(x=0, y=0, z=2, frame_id='body', speed=0.5, auto_arm=True) # взлет на 2 метра
time.sleep(5)
# Полет в координату 2:2 маркерного поля, высота 2 метра
navigate(2, 2, 2, speed=1, frame_id='aruco_map') # полет в координату 2:2, высота 3 метра
navigate(x=2, y=2, z=2, speed=1, frame_id='aruco_map') # полет в координату 2:2, высота 3 метра
```
Начиная с версии [образа](image.md) 0.18, доступны также полеты относительно отдельного маркера в карте, даже если дрон его не видит: