mirror of
https://github.com/CopterExpress/clover_vm.git
synced 2026-05-29 16:29:33 +00:00
50 lines
2.1 KiB
Diff
50 lines
2.1 KiB
Diff
diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
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index c4ce578..5f3be12 100644
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--- a/clover/launch/aruco.launch
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+++ b/clover/launch/aruco.launch
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@@ -1,7 +1,7 @@
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<launch>
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<arg name="aruco_detect" default="true"/>
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- <arg name="aruco_map" default="false"/>
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- <arg name="aruco_vpe" default="false"/>
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+ <arg name="aruco_map" default="true"/>
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+ <arg name="aruco_vpe" default="true"/>
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<!-- For additional help go to https://clover.coex.tech/aruco -->
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@@ -24,7 +24,7 @@
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="markers" to="aruco_detect/markers"/>
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- <param name="map" value="$(find aruco_pose)/map/map.txt"/>
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+ <param name="map" value="$(find aruco_pose)/map/cmit.txt"/>
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<param name="known_tilt" value="map"/>
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<param name="image_axis" value="true"/>
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<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
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diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
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index e1bd714..6bf140c 100644
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--- a/clover/launch/clover.launch
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+++ b/clover/launch/clover.launch
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@@ -7,7 +7,7 @@
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<arg name="rosbridge" default="true"/>
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<arg name="main_camera" default="true"/>
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<arg name="optical_flow" default="true"/>
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- <arg name="aruco" default="false"/>
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+ <arg name="aruco" default="true"/>
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<arg name="rangefinder_vl53l1x" default="true"/>
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<arg name="led" default="true"/>
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<arg name="rc" default="true"/>
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diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
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index d70f5f6..e610c53 100644
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--- a/clover_simulation/launch/simulator.launch
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+++ b/clover_simulation/launch/simulator.launch
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@@ -13,7 +13,7 @@
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<!-- Workaround for crashes in VMware -->
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<env name="SVGA_VGPU10" value="0"/>
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<arg name="gui" value="true"/>
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- <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
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+ <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
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<arg name="verbose" value="true"/>
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</include>
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