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

Rename bottom_camera => main_camera

Browse Source
This commit is contained in:
Oleg Kalachev
2018-01-09 22:55:54 +03:00
parent dc124679ed
commit ab42ea9259
4 changed files with 13 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
clever/launch/aruco.launch
View File

@@ -1,6 +1,6 @@
<launch>
<remap from="image" to="bottom_camera/image_raw"/>
<remap from="camera_info" to="bottom_camera/camera_info"/>
<remap from="image" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager" clear_params="true">
<param name="frame_id" value="aruco_map_raw"/>

6
clever/launch/clever.launch
View File

@@ -6,7 +6,7 @@
<arg name="web_server" default="true"/>
<arg name="web_video_server" default="true"/>
<arg name="rosbridge" default="true"/>
<arg name="bottom_camera" default="false"/>
<arg name="main_camera" default="true"/>
<arg name="aruco" default="false"/>
<arg name="fpv_camera" default="false"/>
<arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
@@ -42,8 +42,8 @@
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>
<!-- bottom camera -->
<include file="$(find clever)/launch/bottom_camera.launch" if="$(arg bottom_camera)"/>
<!-- main camera -->
<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
<!-- rosbridge -->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>

9
clever/launch/bottom_camera.launch → clever/launch/main_camera.launch
View File

@@ -1,8 +1,13 @@
<launch>
<!-- the bottom facing camera -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
<!-- clever 3 -->
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
<!-- upwards -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu bottom_camera_optical"/>
<node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
<param name="frame_id" value="bottom_camera_optical"/>

2
clever/launch/sitl.launch
View File

@@ -8,7 +8,7 @@
<arg name="fcu_ip" value="$(arg ip)"/>
<arg name="gcs_bridge" value="false"/>
<arg name="web_video_server" default="false"/>
<arg name="bottom_camera" default="false"/>
<arg name="main_camera" default="false"/>
<arg name="fpv_camera" default="false"/>
<arg name="rosbridge" value="$(arg rosbridge)"/>
<arg name="web_server" default="false"/>