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added another camera for side view on quadrotor and tf on rviz #59

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added another camera for side view on quadrotor and tf on rviz #59

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31 changes: 27 additions & 4 deletions jsk_mbzirc_tasks/config/task1.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ Panels:
- /Status1
- /OverlayText1
Splitter Ratio: 0.5
Tree Height: 428
Tree Height: 412
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -77,6 +77,14 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
side_cam_link:
Alpha: 1
Show Axes: false
Show Trail: false
side_cam_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
sonar_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -131,6 +139,7 @@ Visualization Manager:
LaserScan: true
OverlayText: true
RobotModel: true
TF: true
Value: true
Zoom Factor: 1
- Background Alpha: 0.8
Expand All @@ -151,6 +160,20 @@ Visualization Manager:
text size: 64
top: 10
width: 370
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -200,7 +223,7 @@ Window Geometry:
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000018d00000396fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000023b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000c00430061006d0065007200610100000269000001550000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004970000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000018d0000038bfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006800fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000234000000e600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000c00430061006d0065007200610100000262000001510000001a00ffffff00000001000001130000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000038b000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000044fc0100000002fb0000000800540069006d006501000000000000073f0000038800fffffffb0000000800540069006d00650100000000000004500000000000000000000004930000038b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -210,5 +233,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1855
X: 65
Y: 24
X: 68
Y: 17
12 changes: 10 additions & 2 deletions jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,23 @@

<!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" ray_count="1081" min_angle="-135" max_angle="135">
<xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40"
ray_count="1081" min_angle="-135" max_angle="135">
<origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
</xacro:hokuyo_utm30lx>

<!-- Downward facing camera -->
<xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
<xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
<xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info"
update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
<origin xyz="0.4 0.0 -0.0" rpy="0 ${M_PI/2} 0"/>
</xacro:generic_camera>

<!-- side facing camera -->
<xacro:generic_camera name="side_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info"
update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
<origin xyz="-0.4 0.0 -0.0" rpy="${M_PI} ${M_PI} 0"/>
</xacro:generic_camera>

</robot>