From ab42ea9259017a48f16cac95b321fbca5be8f345 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 9 Jan 2018 22:55:54 +0300
Subject: [PATCH] Rename bottom_camera => main_camera

---
 clever/launch/aruco.launch                               | 4 ++--
 clever/launch/clever.launch                              | 6 +++---
 .../launch/{bottom_camera.launch => main_camera.launch}  | 9 +++++++--
 clever/launch/sitl.launch                                | 2 +-
 4 files changed, 13 insertions(+), 8 deletions(-)
 rename clever/launch/{bottom_camera.launch => main_camera.launch} (65%)

diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch
index ea7e450b..158b84b5 100644
--- a/clever/launch/aruco.launch
+++ b/clever/launch/aruco.launch
@@ -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"/>
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index abbee064..f8a433db 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -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)"/>
diff --git a/clever/launch/bottom_camera.launch b/clever/launch/main_camera.launch
similarity index 65%
rename from clever/launch/bottom_camera.launch
rename to clever/launch/main_camera.launch
index 87ecb77a..b9f1f1e6 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/main_camera.launch
@@ -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"/>
diff --git a/clever/launch/sitl.launch b/clever/launch/sitl.launch
index 5cc8a0ca..1e48052f 100644
--- a/clever/launch/sitl.launch
+++ b/clever/launch/sitl.launch
@@ -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"/>