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Add information and illustrations about camera orientations, update default settings in main_camera.launch

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Arthur Golubtsov
2018-11-02 22:28:50 +03:00
parent 5c8700257b
commit a4aa8bcc6d
7 changed files with 32 additions and 13 deletions
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17
clever/launch/main_camera.launch Normal file → Executable file
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@@ -2,14 +2,19 @@
<!-- 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"/>-->
<!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
<!-- clever 3 -->
<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>
<!-- camera is oriented downward, camera cable goes backward [option 1] -->
<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>
<!-- clever 3, upwards -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu main_camera_optical"/>-->
<!-- camera is oriented downward, camera cable goes forward [option 2] -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.00 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
<!-- camera is oriented upward, camera cable goes backward [option 3] -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 fcu main_camera_optical"/>-->
<!-- camera is oriented upward, camera cable goes forward [option 4] -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.00 0 0.07 -1.5707963 0 0 fcu main_camera_optical"/>-->
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">