Merge pull request #2 from ctu-mrs/m690

Merge M690 configurations
ctu-mrs · Dec 18, 2023 · 0138ee6 · 0138ee6
2 parents 92408cf + baf3201
commit 0138ee6
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Showing 2 changed files with 38 additions and 2 deletions.
diff --git a/config/mrs_uav_system/m690.yaml b/config/mrs_uav_system/m690.yaml
@@ -0,0 +1,5 @@
+motor_params:
+  n_motors: 4
+  a:  0.34660
+  b: -0.83861
+
diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -87,7 +87,7 @@
       </group>
 
       <group if="$(eval arg('UAV_TYPE') == 'm690')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.0 0.1 -0.03 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.037 0.0 -0.168 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
       </group>
 
       <group if="$(eval arg('UAV_TYPE') == 't680')">
@@ -859,6 +859,33 @@
 
   <!-- //} -->
 
+  <!-- Basler //{ -->
+
+  <group if="$(eval ('basler' in arg('SENSORS')))">
+
+
+    <!-- basler_down //{ -->
+
+    <group if="$(eval ('basler_down' in arg('SENSORS').replace(',', ' ').split()))">
+
+      <arg name="basler_down_frame" default="$(arg UAV_NAME)/basler_down" />
+      <arg name="basler_down_optical_frame" default="$(arg UAV_NAME)/basler_down_optical" />
+      <arg name="basler_down_slashless" default="basler_down_$(arg UAV_NAME)" />
+      <arg name="basler_down_optical_slashless" default="basler_down_optical_$(arg UAV_NAME)" />
+
+      <group if="$(eval arg('UAV_TYPE') == 'm690')">
+
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg basler_down_slashless)" args="-0.052 0.104 -0.296 -1.57079632679 1.57079632679 0 $(arg fcu_frame) $(arg basler_down_frame)" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg basler_down_slashless)_to_$(arg basler_down_optical_slashless)" args="0 0 0 -1.57079633 0 -1.57079633 $(arg basler_down_frame) $(arg basler_down_optical_frame)" />
+
+      </group>
+
+    </group>
+
+  </group>
+
+  <!-- //} -->
+
   <!-- Ouster //{ -->
 
   <group if="$(eval 'ouster' in arg('SENSORS'))">
@@ -889,7 +916,7 @@
     </group>
 
     <group if="$(eval arg('UAV_TYPE') == 'm690')">
-      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.10 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
+      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.08 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
     </group>
 
     <group if="$(eval arg('UAV_TYPE') == 'x500')">
@@ -975,6 +1002,10 @@
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
       </group>
 
+      <group if="$(eval arg('UAV_TYPE') == 'm690')">
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.137 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
+      </group>
+
       <!-- TODO(HW guys) pls put correct TF values -->
       <group if="$(eval arg('UAV_TYPE') == 'naki')">
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />