Feature/update bringup #30
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nyxrobotics
requested changes
May 20, 2024
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| <!-- launch IMU --> | ||
| <!-- <include file="$(find wt901B_ros)/launch/wt901B_ros.launch"/> --> | ||
| <!-- <remap from="scan" to="scan" /> --> | ||
| <!-- <remap from="scan_filtered" to="scan_filtered"/> --> | ||
| <!-- v1 --> | ||
| <!-- <rosparam command="load" file="$(find cube_petit_bringup)/config/sensors/cube_petit_pacecat_filter.yaml" /> --> | ||
| <!-- v2 --> | ||
| <!-- imaha iranai --> |
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| <!-- launch カメラ -->> | ||
| <node pkg="uvc_camera" type="uvc_camera_node" name="usb_camera_node"> | ||
| <param name="device" type="string" value="/dev/video0"/> | ||
| <!-- <node pkg="uvc_camera" type="uvc_camera_node" name="usb_camera_node"> | ||
| <param name="device" type="string" value="/dev/rear_camera"/> | ||
| <param name="pixel_format" value="YUYV"/> | ||
| <param name="camera_frame_id" value="rear_camera"/> | ||
| <param name="io_method" value="mmap"/> | ||
| <param name="frame_id" value="rear_camera_optical_link"/> | ||
| <param name="camera_info_url" type="string" value="file://$(find cube_petit_bringup)/config/sensors/rear_camera/camera.yaml"/> </node> --> |
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| <!-- <arg name="marker_size" default="5.5" /> | ||
| <arg name="max_new_marker_error" default="0.08" /> | ||
| <arg name="max_track_error" default="0.2" /> | ||
| <arg name="cam_image_topic" default="/rear_camera/image_raw" /> | ||
| <arg name="cam_info_topic" default="/rear_camera/camera_info" /> | ||
| <arg name="output_frame" default="/rear_cameras" /> --> | ||
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| <!-- launch AR_TRACK_ALVAR --> | ||
| <!-- <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" | ||
| args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) | ||
| args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) | ||
| $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" /> --> |
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| <!-- version1 --> | ||
| <!-- <arg name="model" default="$(find cube_petit_description)/urdf/cube_petit.xacro" /> --> | ||
| <!-- <rosparam command="load" file="$(find cube_petit_navigation)/config/odom_gazebo.yaml"/> --> |
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version 1 と2で両方対応したい場合はコメントアウトではなくarg ifで切り替えられるようにしたほうが良いでしょう
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そうします、ありがとうございます
| @@ -74,19 +58,17 @@ | |||
| --> | |||
| <!-- Charging simulation --> | ||
| <include file="$(find cube_petit_gazebo)/launch/include/docking_station_simulation.launch"> | ||
| <arg name="robot" value="cube-petit"/> | ||
| </include> | ||
| </launch> |
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Summary
bringupの改修をしました
IMU.launchを追加しました
melodicのLiDARが前後逆に出力されるバグがnoeticで修正されたので対応しました
Test