Add camera visualization for Clever 3
Arthur Golubtsov
BIN
docs/assets/camera_option_1_clever.jpg
Normal file
|
After Width: | Height: | Size: 419 KiB |
0
docs/assets/camera_option_1.png → docs/assets/camera_option_1_rviz.png
Executable file → Normal file
|
Before Width: | Height: | Size: 24 KiB After Width: | Height: | Size: 24 KiB |
BIN
docs/assets/camera_option_2_clever.jpg
Normal file
|
After Width: | Height: | Size: 423 KiB |
0
docs/assets/camera_option_2.png → docs/assets/camera_option_2_rviz.png
Executable file → Normal file
|
Before Width: | Height: | Size: 24 KiB After Width: | Height: | Size: 24 KiB |
BIN
docs/assets/camera_option_3_clever.jpg
Normal file
|
After Width: | Height: | Size: 379 KiB |
0
docs/assets/camera_option_3.png → docs/assets/camera_option_3_rviz.png
Executable file → Normal file
|
Before Width: | Height: | Size: 29 KiB After Width: | Height: | Size: 29 KiB |
BIN
docs/assets/camera_option_4_clever.jpg
Normal file
|
After Width: | Height: | Size: 378 KiB |
0
docs/assets/camera_option_4.png → docs/assets/camera_option_4_rviz.png
Executable file → Normal file
|
Before Width: | Height: | Size: 29 KiB After Width: | Height: | Size: 29 KiB |
@@ -22,13 +22,16 @@
|
||||
|
||||
## Настройки для Клевера
|
||||
|
||||
> Первое изображение - как выглядит модель коптера в Rviz при указанных настройках, второе - как выглядит Клевер при тех же настройках.
|
||||
|
||||
### 1. Камера направлена вниз, шлейф назад
|
||||
|
||||
```xml
|
||||
<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"/>
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 2. Камера направлена вниз, шлейф вперёд
|
||||
|
||||
@@ -36,7 +39,8 @@
|
||||
<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"/>
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 3. Камера направлена вверх, шлейф назад
|
||||
|
||||
@@ -44,7 +48,8 @@
|
||||
<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"/>
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 4. Камера направлена вверх, шлейф вперёд
|
||||
|
||||
@@ -52,4 +57,5 @@
|
||||
<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"/>
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||