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docs: add note on disabling optical flow if using ceiling markers placement

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This commit is contained in:
Oleg Kalachev
2021-08-04 08:00:36 +03:00
parent 4fa70aa73a
commit e342796f07
2 changed files with 13 additions and 1 deletions
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8
docs/en/aruco_map.md
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@@ -162,7 +162,13 @@ You should also set the `placement` parameter to `ceiling` in `~/catkin_ws/src/c
<arg name="placement" default="ceiling"/>
```
This will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:
With such a camera orientation the [Optical Flow](optical_flow.md) technology cannot work, so it should be disabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
```xml
<arg name="optical_flow" default="false"/>
```
Such setup will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:
```python
navigate(x=1, y=1.1, z=2, speed=0.5, frame_id='aruco_map')

6
docs/ru/aruco_map.md
View File

@@ -164,6 +164,12 @@ navigate(frame_id='aruco_5', x=0, y=0, z=1)
<arg name="placement" default="ceiling"/>
```
Технология [Optical Flow](optical_flow.md) не может нормально работать при таком расположении камеры, поэтому в файле `~/catkin_ws/src/clover/clover/launch/clover.launch` ее следует отключить:
```xml
<arg name="optical_flow" default="false"/>
```
При такой конфигурации фрейм `aruco_map` также окажется перевернутым. Таким образом, для полета на высоту 2 метра ниже потолка, аргумент `z` нужно устанавливать в 2:
```python