mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-27 05:29:32 +00:00
32 lines
1.5 KiB
XML
32 lines
1.5 KiB
XML
<launch>
|
|
<!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
|
|
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
|
|
|
|
<!-- clever 2 -->
|
|
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
|
|
|
|
<!-- clever 3 -->
|
|
<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"/>
|
|
|
|
<!-- clever 3, upwards -->
|
|
<!--<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"/>-->
|
|
|
|
<!-- camera node -->
|
|
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
|
|
<param name="frame_id" value="main_camera_optical"/>
|
|
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
|
|
|
|
<!-- setting camera FPS -->
|
|
<param name="rate" value="100"/>
|
|
<param name="cv_cap_prop_fps" value="40"/>
|
|
|
|
<param name="image_width" value="320"/>
|
|
<param name="image_height" value="240"/>
|
|
</node>
|
|
|
|
<!-- camera visualization markers -->
|
|
<node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
|
|
<param name="scale" value="3.0"/>
|
|
</node>
|
|
</launch>
|