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Run map_flipped frame only when markers placement is ceiling

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This commit is contained in:
Oleg Kalachev
2022-11-06 02:02:43 +06:00
parent 3f3d1cd220
commit 9a8aa00bc7
2 changed files with 4 additions and 2 deletions
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4
clover/launch/aruco.launch
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@@ -53,4 +53,8 @@
<param name="force_init" value="$(arg force_init)"/>
<param name="offset_frame_id" value="aruco_map"/>
</node>
<!-- run map_flipped frame if placement is ceiling -->
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
</launch>

2
clover/launch/clover.launch
View File

@@ -48,8 +48,6 @@
<param name="disable_on_vpe" value="false"/>
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
<param name="reference_frames/main_camera_optical" value="map"/>