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assets, scripts: Enable VPE by default

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This commit is contained in:
Alexey Rogachevskiy
2020-08-10 19:13:52 +03:00
parent ba7368c848
commit b208d3d001
2 changed files with 53 additions and 0 deletions
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49
assets/patches/autoconfig.patch Normal file
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@@ -0,0 +1,49 @@
diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
index c4ce578..5f3be12 100644
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -1,7 +1,7 @@
<launch>
<arg name="aruco_detect" default="true"/>
- <arg name="aruco_map" default="false"/>
- <arg name="aruco_vpe" default="false"/>
+ <arg name="aruco_map" default="true"/>
+ <arg name="aruco_vpe" default="true"/>
<!-- For additional help go to https://clover.coex.tech/aruco -->
@@ -24,7 +24,7 @@
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="markers" to="aruco_detect/markers"/>
- <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+ <param name="map" value="$(find aruco_pose)/map/cmit.txt"/>
<param name="known_tilt" value="map"/>
<param name="image_axis" value="true"/>
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
index e1bd714..6bf140c 100644
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -7,7 +7,7 @@
<arg name="rosbridge" default="true"/>
<arg name="main_camera" default="true"/>
<arg name="optical_flow" default="true"/>
- <arg name="aruco" default="false"/>
+ <arg name="aruco" default="true"/>
<arg name="rangefinder_vl53l1x" default="true"/>
<arg name="led" default="true"/>
<arg name="rc" default="true"/>
diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
index d70f5f6..e610c53 100644
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -13,7 +13,7 @@
<!-- Workaround for crashes in VMware -->
<env name="SVGA_VGPU10" value="0"/>
<arg name="gui" value="true"/>
- <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
+ <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
<arg name="verbose" value="true"/>
</include>

4
scripts/installSoftware.sh
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@@ -84,6 +84,10 @@ ARUCO_MAP_PATH=${CLOVER_BASE_PATH}/aruco_pose/map
WORLD_PATH=${CLOVER_BASE_PATH}/clover_simulation/resources/worlds
rosrun clover_simulation aruco_gen --offset-z=0.01 --single-model --source-world=${WORLD_PATH}/clover.world ${ARUCO_MAP_PATH}/cmit.txt > ${WORLD_PATH}/clover_aruco.world
echo "--- Applying configuration patches"
cd ${HOME}/catkin_ws/src/clover
patch -p1 < /tmp/patches/autoconfig.patch
echo "--- Installing npm"
cd ${HOME}
wget --progress=dot:giga https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-x64.tar.gz