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Simplify camera orientation setting (#204)

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* main_camera.launch: simplify camera orientation setting

* Fix camera transforms

* Move camera transform description closer to transform tempalte

* orientation => direction

* Fix
This commit is contained in:
Oleg Kalachev
2020-02-12 20:48:29 +03:00
committed by GitHub
parent d182542153
commit bda966bc90
1 changed files with 12 additions and 14 deletions
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26
clover/launch/main_camera.launch
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@@ -1,20 +1,18 @@
<launch>
<!-- article about camera setup: https://clever.coex.tech/camera_frame -->
<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
<node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
<node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
<node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
<!-- Template for custom camera orientation -->
<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
<!-- article about camera setup: https://clover.coex.tech/camera_frame -->
<!-- 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 base_link 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="0.05 0 -0.07 1.5707963 0 3.1415926 base_link 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 base_link 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="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">