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Add camera visualization for Clever 3

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This commit is contained in:
Arthur Golubtsov
2018-12-05 00:55:09 +03:00
parent 47fc673d73
commit c8994aebb4
9 changed files with 10 additions and 4 deletions
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14
docs/ru/camera_frame.md
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@@ -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"/>
```
![](../assets/camera_option_1.png)
![](../assets/camera_option_1_rviz.png)
![](../assets/camera_option_1_clever.jpg)
### 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"/>
```
![](../assets/camera_option_2.png)
![](../assets/camera_option_2_rviz.png)
![](../assets/camera_option_2_clever.jpg)
### 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"/>
```
![](../assets/camera_option_3.png)
![](../assets/camera_option_3_rviz.png)
![](../assets/camera_option_3_clever.jpg)
### 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"/>
```
![](../assets/camera_option_4.png)
![](../assets/camera_option_4_rviz.png)
![](../assets/camera_option_4_clever.jpg)